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add 1s delay to start of key autos #366

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add 1s delay to start of key autos #366

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bca78e4
add 1s delay to start of key autos
aschokking Apr 4, 2025
e505ce0
Merge branch 'main' into auto-delays
aschokking Apr 4, 2025
28ce374
move wait to after pose set
aschokking Apr 4, 2025
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5 changes: 5 additions & 0 deletions src/main/java/competition/auto_programs/FromCageScoreOneCoralAutoFactory.java
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Original file line number Diff line number Diff line change
Expand Up @@ -7,8 +7,11 @@
import competition.subsystems.pose.PoseSubsystem;
import edu.wpi.first.math.geometry.Pose2d;
import edu.wpi.first.wpilibj2.command.InstantCommand;
import edu.wpi.first.wpilibj2.command.WaitCommand;
import xbot.common.subsystems.autonomous.AutonomousCommandSelector;

import static edu.wpi.first.units.Units.Seconds;

import javax.inject.Inject;

public class FromCageScoreOneCoralAutoFactory {
Expand Down Expand Up @@ -44,6 +47,8 @@ public BaseAutonomousSequentialCommandGroup create(Pose2d startingLocation,
.alongWith(new InstantCommand(() -> simulator.resetPosition(PoseSubsystem.convertBlueToRedIfNeeded(startingLocation))));
auto.addCommands(initializeStateCommand);

auto.addCommands(new WaitCommand(Seconds.of(1)));

var driveAndScore = driveToFaceAndScoreCommandGroupFact.create(targetReefFace, targetBranch, targetLevel)
.alongWith(
auto.getDriveAndScoreStatusMessageCommand(targetReefFace, targetBranch, targetLevel));
Expand Down
3 changes: 3 additions & 0 deletions src/main/java/competition/auto_programs/vision/LeftFourCoralAuto.java
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Original file line number Diff line number Diff line change
Expand Up @@ -14,6 +14,8 @@
import javax.inject.Inject;
import javax.inject.Provider;

import static edu.wpi.first.units.Units.Seconds;

import edu.wpi.first.wpilibj2.command.WaitCommand;
import xbot.common.subsystems.autonomous.AutonomousCommandSelector;

Expand All @@ -26,6 +28,7 @@ public LeftFourCoralAuto(
Provider<PathDriveToLocationForCoralStationFactory> pathDriveToLocationAndIntakeUntilCollectedProvider) {
super(autoSelector);

this.addCommands(new WaitCommand(Seconds.of(1)));

// Score 1
getDriveAndScoreStatusMessageCommand(Landmarks.ReefFace.FAR_LEFT,
Expand Down
4 changes: 3 additions & 1 deletion 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 @@ -13,6 +13,8 @@
import javax.inject.Inject;
import javax.inject.Provider;

import static edu.wpi.first.units.Units.Seconds;

import edu.wpi.first.wpilibj2.command.WaitCommand;
import xbot.common.subsystems.autonomous.AutonomousCommandSelector;

Expand All @@ -25,7 +27,7 @@ public RightFourCoralAuto(
Provider<PathDriveToLocationForCoralStationFactory> pathDriveToLocationAndIntakeUntilCollectedProvider) {
super(autoSelector);


this.addCommands(new WaitCommand(Seconds.of(1)));

// Score 1
getDriveAndScoreStatusMessageCommand(Landmarks.ReefFace.FAR_RIGHT,
Expand Down