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Auton delay #74

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Auton delay #74

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3 changes: 3 additions & 0 deletions src/main/java/frc/robot/autons/Auton.java
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Original file line number Diff line number Diff line change
Expand Up @@ -16,9 +16,11 @@
import edu.wpi.first.wpilibj.DriverStation.Alliance;
import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
import edu.wpi.first.wpilibj2.command.WaitCommand;
import frc.robot.constants.AutoConstants;
import frc.robot.constants.DriveConstants;
import frc.robot.constants.FieldConstants;
import frc.robot.subsystems.Dashboard;
import frc.robot.subsystems.DriveTrain;

public abstract class Auton extends SequentialCommandGroup {
Expand All @@ -30,6 +32,7 @@ public Auton(Optional<Alliance> alliance) {
if (alliance.isPresent()) {
this.alliance = alliance.get();
}
this.addCommands(new WaitCommand(Dashboard.getInstance().getAutoDelay()));
}

protected void setInitialPose(PathPlannerTrajectory initialTrajectory) {
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4 changes: 0 additions & 4 deletions src/main/java/frc/robot/autons/AutonSelector.java
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Expand Up @@ -12,7 +12,6 @@ public class AutonSelector {
public enum AutonChoices {
NoAuto,
AmpAuto,
AmpAutoWait,
AmpAutoAcquire,
TaxiPos1,
TaxiPos2,
Expand All @@ -38,7 +37,6 @@ private AutonSelector() {

this.autoChooser.setDefaultOption("No Auto", AutonChoices.NoAuto);
this.autoChooser.addOption("Score 2 In Amp Position 1", AutonChoices.AmpAuto);
this.autoChooser.addOption("Wait Score in amp position 1", AutonChoices.AmpAutoWait);
this.autoChooser.addOption("Score 2 in amp and acquire Pos 1", AutonChoices.AmpAutoAcquire);
this.autoChooser.addOption("Taxi Position 1", AutonChoices.TaxiPos1);
this.autoChooser.addOption("Taxi Position 2", AutonChoices.TaxiPos2);
Expand All @@ -50,8 +48,6 @@ public Auton chooseAuton() {
switch (this.autoChooser.getSelected()) {
case AmpAuto:
return new ScoreInAmp(alliance);
case AmpAutoWait:
return new ScoreInAmpWait(alliance);
case AmpAutoAcquire:
return new ScoreInAmpAcquire(alliance);
case TaxiPos1:
Expand Down
38 changes: 0 additions & 38 deletions src/main/java/frc/robot/autons/ScoreInAmpWait.java
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14 changes: 14 additions & 0 deletions src/main/java/frc/robot/subsystems/Dashboard.java
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Original file line number Diff line number Diff line change
Expand Up @@ -7,6 +7,7 @@

import edu.wpi.first.cscore.HttpCamera;
import edu.wpi.first.cscore.VideoSource.ConnectionStrategy;
import edu.wpi.first.math.MathUtil;
import edu.wpi.first.math.trajectory.Trajectory;
import edu.wpi.first.networktables.GenericEntry;
import edu.wpi.first.networktables.NetworkTableInstance;
Expand Down Expand Up @@ -51,6 +52,10 @@ public enum Cameras {
.getEntry();

// Drivers Tab Inputs
private GenericEntry autonDelay = driversTab.add("Auton Delay", 0)
.withPosition(0, 1)
.withSize(2, 1)
.getEntry();
private GenericEntry feedAmpSpeed = driversTab.add("Feed Amp Speed", ScoringConstants.feedAmpSpeed)
.withPosition(0, 2)
.getEntry();
Expand Down Expand Up @@ -178,4 +183,13 @@ public void clearTrajectory() {
public SendableChooser<AutonChoices> getAutoChooser() {
return autoChooser;
}

/**
* Gets the number of seconds to delay the start of auton
*
* @return delay in seconds clamped between 0 and 10 seconds
*/
public double getAutoDelay() {
return MathUtil.clamp(autonDelay.getDouble(0), 0, 10);
}
}
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