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Drive to third then terminate in auto #360

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Drive to third then terminate in auto #360

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79 changes: 43 additions & 36 deletions src/main/java/competition/auto_programs/vision/LeftFourCoralAuto.java
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Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -7,6 +7,7 @@

import competition.auto_programs.BaseAutonomousSequentialCommandGroup;
import competition.commandgroups.DriveToFaceAndScoreCommandGroupFactory;
import competition.commandgroups.DriveToReefFaceThenAlignCommandGroupFactory;
import competition.commandgroups.vision_path.PathDriveToLocationForCoralStationFactory;
import competition.subsystems.pose.Landmarks;
import competition.subsystems.pose.vision.Paths;
Expand All @@ -23,6 +24,7 @@ public class LeftFourCoralAuto extends BaseAutonomousSequentialCommandGroup {
public LeftFourCoralAuto(
AutonomousCommandSelector autoSelector,
DriveToFaceAndScoreCommandGroupFactory driveToFaceAndScoreFact,
DriveToReefFaceThenAlignCommandGroupFactory driveToReefFaceThenAlignCommandGroupFactory,
Provider<PathDriveToLocationForCoralStationFactory> pathDriveToLocationAndIntakeUntilCollectedProvider) {
super(autoSelector);

Expand Down Expand Up @@ -68,41 +70,46 @@ public LeftFourCoralAuto(
Landmarks.CoralStationSection.MID));
this.addCommands(driveToRightStationAndIntakeSecond);

// Score 3
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@aschokking aschokking Apr 3, 2025

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⭐ in case we ever wanted to go back and get this, maybe this should be a different auto program? Like call it LeftTwoCoralAuto?

var driveAndScoreCloseLeftBranchALevelFour =
driveToFaceAndScoreFact
.create(Landmarks.ReefFace.CLOSE_LEFT, Landmarks.Branch.A,
Landmarks.CoralLevel.FOUR)
.alongWith(getDriveAndScoreStatusMessageCommand(
Landmarks.ReefFace.CLOSE_LEFT, Landmarks.Branch.A,
Landmarks.CoralLevel.FOUR));
this.addCommands(driveAndScoreCloseLeftBranchALevelFour);

// Coral Station
var driveToLeftStationAndIntakeSecond =
pathDriveToLocationAndIntakeUntilCollectedProvider.get()
.create(Paths.Side.LEFT, blueCloseLeftBranchAToLeftCoralStation)
.alongWith(getDriveAndIntakeStatusMessageCommand(
Landmarks.CoralStation.LEFT,
Landmarks.CoralStationSection.MID));
this.addCommands(driveToLeftStationAndIntakeSecond);

// Score 4
var driveAndScoreCloseBranchALevelFour =
driveToFaceAndScoreFact
.create(Landmarks.ReefFace.CLOSE, Landmarks.Branch.A,
Landmarks.CoralLevel.FOUR)
.alongWith(
getDriveAndScoreStatusMessageCommand(Landmarks.ReefFace.CLOSE,
Landmarks.Branch.A, Landmarks.CoralLevel.FOUR));
this.addCommands(driveAndScoreCloseBranchALevelFour);

// Back to coral station
var homed = pathDriveToLocationAndIntakeUntilCollectedProvider.get()
.create(Paths.Side.LEFT, blueCloseBranchAToLeftCoralStation)
.alongWith(getDriveAndIntakeStatusMessageCommand(
Landmarks.CoralStation.LEFT,
Landmarks.CoralStationSection.MID));
this.addCommands(homed);
// Go to 3, but not score it
var driveToCloseLeftBranchALevelFour = driveToReefFaceThenAlignCommandGroupFactory.create(
Landmarks.ReefFace.CLOSE_LEFT, Landmarks.Branch.A);
this.addCommands(driveToCloseLeftBranchALevelFour);

// // Score 3
// var driveAndScoreCloseLeftBranchALevelFour =
// driveToFaceAndScoreFact
// .create(Landmarks.ReefFace.CLOSE_LEFT, Landmarks.Branch.A,
// Landmarks.CoralLevel.FOUR)
// .alongWith(getDriveAndScoreStatusMessageCommand(
// Landmarks.ReefFace.CLOSE_LEFT, Landmarks.Branch.A,
// Landmarks.CoralLevel.FOUR));
// this.addCommands(driveAndScoreCloseLeftBranchALevelFour);
//
// // Coral Station
// var driveToLeftStationAndIntakeSecond =
// pathDriveToLocationAndIntakeUntilCollectedProvider.get()
// .create(Paths.Side.LEFT, blueCloseLeftBranchAToLeftCoralStation)
// .alongWith(getDriveAndIntakeStatusMessageCommand(
// Landmarks.CoralStation.LEFT,
// Landmarks.CoralStationSection.MID));
// this.addCommands(driveToLeftStationAndIntakeSecond);
//
// // Score 4
// var driveAndScoreCloseBranchALevelFour =
// driveToFaceAndScoreFact
// .create(Landmarks.ReefFace.CLOSE, Landmarks.Branch.A,
// Landmarks.CoralLevel.FOUR)
// .alongWith(
// getDriveAndScoreStatusMessageCommand(Landmarks.ReefFace.CLOSE,
// Landmarks.Branch.A, Landmarks.CoralLevel.FOUR));
// this.addCommands(driveAndScoreCloseBranchALevelFour);
//
// // Back to coral station
// var homed = pathDriveToLocationAndIntakeUntilCollectedProvider.get()
// .create(Paths.Side.LEFT, blueCloseBranchAToLeftCoralStation)
// .alongWith(getDriveAndIntakeStatusMessageCommand(
// Landmarks.CoralStation.LEFT,
// Landmarks.CoralStationSection.MID));
// this.addCommands(homed);
}
}
80 changes: 43 additions & 37 deletions src/main/java/competition/auto_programs/vision/RightFourCoralAuto.java
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Original file line number Diff line number Diff line change
Expand Up @@ -7,6 +7,7 @@

import competition.auto_programs.BaseAutonomousSequentialCommandGroup;
import competition.commandgroups.DriveToFaceAndScoreCommandGroupFactory;
import competition.commandgroups.DriveToReefFaceThenAlignCommandGroupFactory;
import competition.commandgroups.vision_path.PathDriveToLocationForCoralStationFactory;
import competition.subsystems.pose.Landmarks;
import competition.subsystems.pose.vision.Paths;
Expand All @@ -22,6 +23,7 @@ public class RightFourCoralAuto extends BaseAutonomousSequentialCommandGroup {
public RightFourCoralAuto(
AutonomousCommandSelector autoSelector,
DriveToFaceAndScoreCommandGroupFactory driveToFaceAndScoreFact,
DriveToReefFaceThenAlignCommandGroupFactory driveToReefFaceThenAlignCommandGroupFactory,
Provider<PathDriveToLocationForCoralStationFactory> pathDriveToLocationAndIntakeUntilCollectedProvider) {
super(autoSelector);

Expand Down Expand Up @@ -68,42 +70,46 @@ public RightFourCoralAuto(
Landmarks.CoralStationSection.MID));
this.addCommands(driveToRightStationAndIntakeSecond);

// Score 3
var driveAndScoreCloseLeftBranchALevelFour =
driveToFaceAndScoreFact
.create(Landmarks.ReefFace.CLOSE_RIGHT, Landmarks.Branch.B,
Landmarks.CoralLevel.FOUR)
.alongWith(getDriveAndScoreStatusMessageCommand(
Landmarks.ReefFace.CLOSE_RIGHT, Landmarks.Branch.B,
Landmarks.CoralLevel.FOUR));
this.addCommands(driveAndScoreCloseLeftBranchALevelFour);

// Coral Station
var driveToLeftStationAndIntakeSecond =
pathDriveToLocationAndIntakeUntilCollectedProvider.get()
.create(Paths.Side.RIGHT, blueCloseLeftBranchAToLeftCoralStation)
.alongWith(getDriveAndIntakeStatusMessageCommand(
Landmarks.CoralStation.RIGHT,
Landmarks.CoralStationSection.MID));
this.addCommands(driveToLeftStationAndIntakeSecond);

// Score 4
var driveAndScoreCloseBranchALevelFour =
driveToFaceAndScoreFact
.create(Landmarks.ReefFace.CLOSE, Landmarks.Branch.B,
Landmarks.CoralLevel.FOUR)
.alongWith(
getDriveAndScoreStatusMessageCommand(Landmarks.ReefFace.CLOSE,
Landmarks.Branch.B, Landmarks.CoralLevel.FOUR));
this.addCommands(driveAndScoreCloseBranchALevelFour);

// Back to coral station
var homed =
pathDriveToLocationAndIntakeUntilCollectedProvider.get()
.create(Paths.Side.RIGHT, blueCloseBranchAToLeftCoralStation)
.alongWith(getDriveAndIntakeStatusMessageCommand(
Landmarks.CoralStation.RIGHT,
Landmarks.CoralStationSection.MID));
this.addCommands(homed);
// Go to 3, but not score it
var driveToCloseLeftBranchALevelFour = driveToReefFaceThenAlignCommandGroupFactory.create(
Landmarks.ReefFace.CLOSE_RIGHT, Landmarks.Branch.B);
this.addCommands(driveToCloseLeftBranchALevelFour);

// // Score 3
// var driveAndScoreCloseLeftBranchALevelFour =
// driveToFaceAndScoreFact
// .create(Landmarks.ReefFace.CLOSE_RIGHT, Landmarks.Branch.B,
// Landmarks.CoralLevel.FOUR)
// .alongWith(getDriveAndScoreStatusMessageCommand(
// Landmarks.ReefFace.CLOSE_RIGHT, Landmarks.Branch.B,
// Landmarks.CoralLevel.FOUR));
// this.addCommands(driveAndScoreCloseLeftBranchALevelFour);
//
// // Coral Station
// var driveToLeftStationAndIntakeSecond =
// pathDriveToLocationAndIntakeUntilCollectedProvider.get()
// .create(Paths.Side.RIGHT, blueCloseLeftBranchAToLeftCoralStation)
// .alongWith(getDriveAndIntakeStatusMessageCommand(
// Landmarks.CoralStation.RIGHT,
// Landmarks.CoralStationSection.MID));
// this.addCommands(driveToLeftStationAndIntakeSecond);
//
// // Score 4
// var driveAndScoreCloseBranchALevelFour =
// driveToFaceAndScoreFact
// .create(Landmarks.ReefFace.CLOSE, Landmarks.Branch.B,
// Landmarks.CoralLevel.FOUR)
// .alongWith(
// getDriveAndScoreStatusMessageCommand(Landmarks.ReefFace.CLOSE,
// Landmarks.Branch.B, Landmarks.CoralLevel.FOUR));
// this.addCommands(driveAndScoreCloseBranchALevelFour);
//
// // Back to coral station
// var homed = pathDriveToLocationAndIntakeUntilCollectedProvider.get()
// .create(Paths.Side.RIGHT, blueCloseBranchAToLeftCoralStation)
// .alongWith(getDriveAndIntakeStatusMessageCommand(
// Landmarks.CoralStation.RIGHT,
// Landmarks.CoralStationSection.MID));
// this.addCommands(homed);
}
}