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Added Auto_Further_Front 100 inches - than HUB_CENTER. Added a command for going backwards and shooting fuel. Added this command as a Auton in robot container.
codeNinja-1
requested changes
Mar 26, 2026
| this.autoOutpost = new AutoOutpost(robot, shootFuel); | ||
| this.autoEdgeIntake = new AutoEdgeIntake(robot); | ||
| this.collectFuelFromHub = new CollectFuelFromHub(robot); | ||
| this.hopperSensors = new HopperSensors(); |
Collaborator
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Don't create a new HopperSensors. Instead use robot.getHopperSenors().
| public final AutoOutpost autoOutpost; | ||
| public final AutoEdgeIntake autoEdgeIntake; | ||
| public final CollectFuelFromHub collectFuelFromHub; | ||
| public final HopperSensors hopperSensors; |
Collaborator
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You don't need this field. Just use robot.getHopperSensors() instead.
| shootFuel.shoot()); | ||
| } | ||
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| public Command moveBackwardAndShoot() { |
Collaborator
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Add a Javadoc comment to this method.
| public Command moveBackwardAndShoot() { | ||
| return Commands.sequence( | ||
| robot.getSwerveDrive().driveTo(FieldPositions.HUB_FURTHER_FRONT), shootFuel.shoot()) | ||
| .until(() -> hopperSensors.isHopperEmpty()); |
Collaborator
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Don't stop shooting even if the hopper is empty. We want to remove as many failure points as we can, and it's possible that no fuel could be blocking the sensor for a brief time.
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| public Command moveBackwardAndShoot() { | ||
| return Commands.sequence( | ||
| robot.getSwerveDrive().driveTo(FieldPositions.HUB_FURTHER_FRONT), shootFuel.shoot()) |
Collaborator
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- Run
AutoShootin parallel to make the shooter aim at the hub - Make
shootFuel.shoot()only run when the trigger returned byautoShoot.isReadyToShoot()outputs true (you can do this withshootFuel.shoot().onlyWhile(autoShoot::isReadyToShoot).repeatedly()).
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Added Auto_Further_Front 100 inches - than HUB_CENTER. Added a command for going backwards and shooting fuel plus a deadline using the .until function. Added this command as a Auton in robot container.