151 create midline notes auton #152
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| public MidlineNoteAutonAmp(Optional<Alliance> alliance) { | ||
| super(alliance); | ||
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| this.setInitialPose(Trajectories.getFromPosition1ToAmpTrajectory()); |
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Change the initial trajectory to pathFromPos1TopNoteTrajectory.
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| followPathCommand(Paths.pathFromTopNoteTo2ndTopNote) | ||
| .until(acquisition::isNotePresent), | ||
| new ScoringElevatorPositionCommand(ElevatorSetpoints.Passer, FinishActions.NoDisable) | ||
| .onlyIf(() -> storage.noteExitingStorage() || acquisition.isNotePresent()) | ||
| .andThen(new ShootPasserCommand(1.5)), | ||
| new AcquisitionRunCommand()), |
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I would also use the unless decorator here to make the code standard.
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| public ShootPasserCommand(double shootDelay, boolean doShootDelay) { | ||
| this.addRequirements(scoring); | ||
| this.shootDelay += shootDelay; | ||
| } | ||
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I don't think there is a need for this constructor since the programmer can choose not to delay shooting by using the second constructor and delay shooting with the first constructor.
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