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Adding a delay to collector intake after deploy. #415

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Adding a delay to collector intake after deploy. #415

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4bcd6d9
Adding a delay to collector intake after deploy.
rokadias Apr 10, 2026
35e7003
Fix from refactor.
rokadias Apr 11, 2026
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13 changes: 8 additions & 5 deletions src/main/java/competition/auto_programs/AutoCommandFactory.java
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Original file line number Diff line number Diff line change
Expand Up @@ -130,11 +130,13 @@ public Command statusMessage(String message) {
/**
* Drives to the neutral zone ball pit, deploys the intake, drives across to collect balls.
*/
public Command collectFromNeutralZone() {
public Command collectFromNeutralZone(Command collectorWaitCommand) {
var group = new SequentialCommandGroup();
group.setName("CollectFromNeutralZone");

group.addCommands(driveToNeutralZoneProvider.get());
group.addCommands(new ParallelDeadlineGroup(
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@aschokking aschokking Apr 11, 2026

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⭐ ⭐ ⭐ I suspect this isnt quite going to work, let's talk about it in person. Wrapping a single command in a ParallelDeadlineGroup basically is a noop. I thought you wanted to run the collector while driving back but they are in sequence now?

driveToNeutralZoneProvider.get(),
collectorWaitCommand.andThen(collectorIntakeProvider.get())));

group.addCommands(new ParallelDeadlineGroup(
firstDriveForCollectionCommandProvider.get(),
Expand All @@ -146,11 +148,13 @@ public Command collectFromNeutralZone() {
/**
* Drives to the neutral zone ball pit, deploys the intake, drives across to collect balls.
*/
public Command collectFromNeutralZoneSecond() {
public Command collectFromNeutralZoneSecond(Command collectorWaitCommand) {
var group = new SequentialCommandGroup();
group.setName("CollectFromNeutralZoneSecond");

group.addCommands(driveToNeutralZoneSecondTimeProvider.get());
group.addCommands(new ParallelDeadlineGroup(
driveToNeutralZoneSecondTimeProvider.get()
collectorWaitCommand.andThen(collectorIntakeProvider.get())));

group.addCommands(new ParallelDeadlineGroup(
secondDriveForCollectionCommandProvider.get(),
Expand All @@ -172,7 +176,6 @@ public Command driveToAllianceAndShoot(Command shootingDeadline) {
prepareToShoot.setPresetLocation(TrajectoriesCalculation.PresetShootingDistance.TRENCH);
group.addCommands(new ParallelDeadlineGroup(
driveFromNeutralZoneToAllianceProvider.get(),
collectorStopProvider.get(),
prepareToShoot));

var continuousPrepare = continuousPrepareToShootProvider.get();
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5 changes: 3 additions & 2 deletions src/main/java/competition/auto_programs/CollectAndShootTwiceCommand.java
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Expand Up @@ -19,16 +19,17 @@ public CollectAndShootTwiceCommand(
pf.setPrefix(this.getName());
var firstShotTimeout = pf.createPersistentProperty("First shot timeout seconds", 3.0);
var secondShotTimeout = pf.createPersistentProperty("Second shot timeout seconds", 10.0);
var collectorWait = pf.createPersistentProperty("Collector run wait seconds", 1.0);

addCommands(
auto.extendIntake(),
auto.collectFromNeutralZone()
auto.collectFromNeutralZone(new WaitForDurationCommand(collectorWait::get))
.alongWith(auto.statusMessage("Driving to neutral zone and back")),
auto.driveToAllianceAndShoot(
auto.waitForShootingDone().raceWith(new WaitForDurationCommand(firstShotTimeout::get)))
.alongWith(auto.statusMessage("Driving to alliance and shoot")),
auto.stopShooting().alongWith(auto.extendIntake()),
auto.collectFromNeutralZoneSecond()
auto.collectFromNeutralZoneSecond(new WaitForDurationCommand(collectorWait::get))
.alongWith(auto.statusMessage("Driving to neutral zone and back the second time")),
auto.driveToAllianceAndShoot(new WaitForDurationCommand(secondShotTimeout::get))
.alongWith(auto.statusMessage("Driving to alliance and shoot")));
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