Skip to content

Fixed Deadlining #8

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Merged
CalicoN00b merged 1 commit into from
Jan 5, 2026
Merged

Fixed Deadlining #8

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
6 changes: 3 additions & 3 deletions src/main/java/frc/robot/commands/DriveCommands.java
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -166,9 +166,9 @@ public static Command alignToReef(Drive drive, boolean alignLeft) {
yController.reset();
thetaController.reset();

xController.setTolerance(Units.inchesToMeters(0.1));
yController.setTolerance(Units.inchesToMeters(0.1));
thetaController.setTolerance(Units.degreesToRadians(1));
xController.setTolerance(Units.inchesToMeters(0.5));
yController.setTolerance(Units.inchesToMeters(0.5));
thetaController.setTolerance(Units.degreesToRadians(2));

return Commands.run(
() -> {
Expand Down
12 changes: 6 additions & 6 deletions src/main/java/frc/robot/commands/SuperstructureCommands.java
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -9,42 +9,42 @@ public class SuperstructureCommands {

public static Command scoreRightL4Sim(Drive drive, SwerveDriveSimulation driveSimulation) {
return Commands.sequence(
Commands.deadline(Commands.waitSeconds(1), DriveCommands.alignToReef(drive, false)),
Commands.race(Commands.waitSeconds(1), DriveCommands.alignToReef(drive, false)),
Commands.waitSeconds(0.1),
IntakeCommands.scoreL4Sim(driveSimulation));
}

public static Command scoreLeftL4Sim(Drive drive, SwerveDriveSimulation driveSimulation) {
return Commands.sequence(
Commands.deadline(Commands.waitSeconds(1), DriveCommands.alignToReef(drive, true)),
Commands.race(Commands.waitSeconds(1), DriveCommands.alignToReef(drive, true)),
Commands.waitSeconds(0.1),
IntakeCommands.scoreL4Sim(driveSimulation));
}

public static Command scoreRightL3Sim(Drive drive, SwerveDriveSimulation driveSimulation) {
return Commands.sequence(
Commands.deadline(Commands.waitSeconds(1), DriveCommands.alignToReef(drive, false)),
Commands.race(Commands.waitSeconds(1), DriveCommands.alignToReef(drive, false)),
Commands.waitSeconds(0.1),
IntakeCommands.scoreL3Sim(driveSimulation));
}

public static Command scoreLeftL3Sim(Drive drive, SwerveDriveSimulation driveSimulation) {
return Commands.sequence(
Commands.deadline(Commands.waitSeconds(1), DriveCommands.alignToReef(drive, true)),
Commands.race(Commands.waitSeconds(1), DriveCommands.alignToReef(drive, true)),
Commands.waitSeconds(0.1),
IntakeCommands.scoreL3Sim(driveSimulation));
}

public static Command scoreRightL2Sim(Drive drive, SwerveDriveSimulation driveSimulation) {
return Commands.sequence(
Commands.deadline(Commands.waitSeconds(1), DriveCommands.alignToReef(drive, false)),
Commands.race(Commands.waitSeconds(1), DriveCommands.alignToReef(drive, false)),
Commands.waitSeconds(0.1),
IntakeCommands.scoreL2Sim(driveSimulation));
}

public static Command scoreLeftL2Sim(Drive drive, SwerveDriveSimulation driveSimulation) {
return Commands.sequence(
Commands.deadline(Commands.waitSeconds(1), DriveCommands.alignToReef(drive, true)),
Commands.race(Commands.waitSeconds(1), DriveCommands.alignToReef(drive, true)),
Commands.waitSeconds(0.1),
IntakeCommands.scoreL2Sim(driveSimulation));
}
Expand Down