Conversation
…ontrollerBindings
…ld be fine after isDeployed is removed
…ontrollerBindings
RoRoBout212
requested review from
MikeKantrowitz,
armadilloz and
batchen1
as code owners
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| @Override | ||
| public void end(boolean interrupted) { | ||
| subsystem.stopMotors(); |
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This is not needed because as soon as the command ends, the default command will continue moving it (at a different speed)
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| package frc.robot.parallels; | |||
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can we move the parallels and sequences folders to be under commands?
| import frc.robot.subsystems.FeederSubsystem; | ||
| import frc.robot.subsystems.HopperSubsystem; | ||
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| public class RunHopperAndFeeder extends ParallelCommandGroup{ |
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should extend LoggableParallelCommandGroup, and then you will need to change the addCommands(...) to super(...)
Same comment for the other sequences.
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| public class IntakeDownSequence extends SequentialCommandGroup{ | ||
| public IntakeDownSequence(IntakeDeployerSubsystem intakeDeployerSubsystem, IntakeSubsystem intakeSubsystem){ | ||
| addCommands( |
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talked to Lou, and we can do these in parallel to save time, so maybe:
sequential(setDeploymentState, parallel(InitialRunDeployment, SpinIntake))
| public class IntakeUpSequence extends SequentialCommandGroup{ | ||
| public IntakeUpSequence(IntakeDeployerSubsystem intakeDeployerSubsystem){ | ||
| addCommands( | ||
| new SetDeploymentState(intakeDeployerSubsystem, DeploymentState.UP), |
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we also want to stop the intake from spinning.
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| SmartDashboard.putNumber("angler/TargetAngle", 0); | ||
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| SmartDashboard.putData("RunIntakeAndFeeder", |
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change the name in the string to match the command
2 participants
controller ideas discussed with sharon and bat-chen
tested on testbed and in simulation
added parallel command group to move hopper and feeder together (to shoot)
added sequential command group to set intake to down, bring intake down, and run intake
added sequential command group to set intake to up, and bring intake up