Package frc.robot

Class AutoCommandFactory

java.lang.Object

frc.robot.AutoCommandFactory

public class AutoCommandFactory
extends Object

Auto Command Factory

Constructor Summary

Constructors

Constructor	Description
AutoCommandFactory(choreo.auto.AutoFactory autoFactory, Swerve swerve, AdjustableHood adjustableHood, Climber climber, Intake intake, Indexer indexer, Shooter shooter, Turret turret)	Auto Command Factory

Method Summary

Modifier and Type	Method	Description
choreo.auto.AutoRoutine	cmpSpecial()	CMP Special
Command	crossRampIntoCenter(choreo.auto.AutoRoutine routine)	Cross ramp into the neutral zone.
Command	crossRampIntoZone(choreo.auto.AutoRoutine routine)	Cross ramp into our alliance zone.
choreo.auto.AutoRoutine	gatherThenShootLeft()	Gather Fuel from the left side and then return and shoot
choreo.auto.AutoRoutine	halfSweepTrenchRamp()	Base for auto routines.
Command	halfSweepTrenchRamp(choreo.auto.AutoRoutine routine, boolean left)	Cross trench and then back over ramp and shoot
Command	halfSweepTrenchRampPath(choreo.auto.AutoRoutine routine, boolean left, DoubleSupplier x)	Half Sweep Trench Ramp Path
choreo.auto.AutoRoutine	justShoot()	Move to a specified X,Y and shoot
choreo.auto.AutoRoutine	rampAuto()	Cross ramp once, pick up balls, come back over same ramp, shoot.
Command	shootFirst()
choreo.auto.AutoRoutine	wilsonTest()	Test to make sure autos work.
choreo.auto.AutoRoutine	wilsonTestBase(choreo.auto.AutoRoutine routine)	Base for auto routines.

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Details

AutoCommandFactory

public AutoCommandFactory(choreo.auto.AutoFactory autoFactory,
 Swerve swerve,
 AdjustableHood adjustableHood,
 Climber climber,
 Intake intake,
 Indexer indexer,
 Shooter shooter,
 Turret turret)

Auto Command Factory

Method Details

gatherThenShootLeft

public choreo.auto.AutoRoutine gatherThenShootLeft()

Gather Fuel from the left side and then return and shoot

Returns:

AutoRoutine

shootFirst

public Command shootFirst()

cmpSpecial

public choreo.auto.AutoRoutine cmpSpecial()

CMP Special

Returns:

AutoRoutine

justShoot

public choreo.auto.AutoRoutine justShoot()

Move to a specified X,Y and shoot

Returns:

AutoRoutine

rampAuto

public choreo.auto.AutoRoutine rampAuto()

Cross ramp once, pick up balls, come back over same ramp, shoot.

crossRampIntoCenter

public Command crossRampIntoCenter(choreo.auto.AutoRoutine routine)

Cross ramp into the neutral zone.

crossRampIntoZone

public Command crossRampIntoZone(choreo.auto.AutoRoutine routine)

Cross ramp into our alliance zone.

wilsonTest

public choreo.auto.AutoRoutine wilsonTest()

Test to make sure autos work.

wilsonTestBase

public choreo.auto.AutoRoutine wilsonTestBase(choreo.auto.AutoRoutine routine)

Base for auto routines.

halfSweepTrenchRamp

public choreo.auto.AutoRoutine halfSweepTrenchRamp()

Base for auto routines.

halfSweepTrenchRamp

public Command halfSweepTrenchRamp(choreo.auto.AutoRoutine routine,
 boolean left)

Cross trench and then back over ramp and shoot

halfSweepTrenchRampPath

public Command halfSweepTrenchRampPath(choreo.auto.AutoRoutine routine,
 boolean left,
 DoubleSupplier x)

Half Sweep Trench Ramp Path