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Better auto names
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@rachitkakkar
rachitkakkar committed Mar 22, 2024
1 parent 15dd1ce commit d0b9fc2
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Showing 2 changed files with 14 additions and 12 deletions.
14 changes: 8 additions & 6 deletions src/main/java/frc/robot/Constants.java
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Expand Up @@ -20,6 +20,7 @@
import org.lasarobotics.utils.PIDConstants;

import edu.wpi.first.apriltag.AprilTag;
import edu.wpi.first.math.Pair;
import edu.wpi.first.math.geometry.Pose2d;
import edu.wpi.first.math.geometry.Rotation2d;
import edu.wpi.first.math.geometry.Rotation3d;
Expand Down Expand Up @@ -88,13 +89,14 @@ public static class NamedCommands {
public static final String AUTO_SHOOT_COMMAND_NAME = "auto shoot";
}


public static class AutoNames {
public static final String CENTER_CLOSETOP_CLOSEMID_CLOSEBOTTOM_AUTO_NAME = "Center_CloseTop_CloseMid_CloseBottom";
public static final String CENTER_CLOSEBOTTOM_CLOSEMID_CLOSETOP_FARTOP_AUTO_NAME = "Center_CloseBottom_CloseMid_CloseTop_FarTop";
public static final String RIGHT_FARBOTTOM_FARMIDBOTTOM_AUTO_NAME = "Right_FarBottom_FarMidBottom";
public static final String LEFT_CLOSETOP_FARTOP_AUTO_NAME = "Left_CloseTop_FarTop";
public static final String LEFT_WAIT_FARTOP_AUTO_NAME = "Left_Wait_FarTop";
public static final String RIGHT_FARDISRUPT_FARTOP_AUTO_NAME = "Right_FarDisrupt_FarTop";
public static final Pair<String, String> CENTER_CLOSETOP_CLOSEMID_CLOSEBOTTOM_AUTO_NAME = new Pair<String, String>("Belton 4-Note", "Center_CloseTop_CloseMid_CloseBottom");
public static final Pair<String, String> CENTER_CLOSEBOTTOM_CLOSEMID_CLOSETOP_FARTOP_AUTO_NAME = new Pair<String, String>("5-Note", "Center_CloseBottom_CloseMid_CloseTop_FarTop");
public static final Pair<String, String> RIGHT_FARBOTTOM_FARMIDBOTTOM_AUTO_NAME = new Pair<String, String>("Two far notes closest to source", "Right_FarBottom_FarMidBottom");
public static final Pair<String, String> LEFT_CLOSETOP_FARTOP_AUTO_NAME = new Pair<String, String>("Closest amp side close note and far note", "Left_CloseTop_FarTop");
public static final Pair<String, String> LEFT_WAIT_FARTOP_AUTO_NAME = new Pair<String, String>("Wait, then do closest amp side far note", "Left_Wait_FarTop");
public static final Pair<String, String> RIGHT_FARDISRUPT_FARTOP_AUTO_NAME = new Pair<String, String>("Disrupt auto (amp side - source side)", "Right_FarDisrupt_FarTop");
}

public static class Drive {
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12 changes: 6 additions & 6 deletions src/main/java/frc/robot/RobotContainer.java
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Expand Up @@ -290,12 +290,12 @@ private ShooterSubsystem.State dashboardStateSupplier() {
private void autoModeChooser() {
m_automodeChooser.setDefaultOption("Do nothing", Commands.none());
m_automodeChooser.addOption("Simple", new SimpleAuto(DRIVE_SUBSYSTEM));
m_automodeChooser.addOption(Constants.AutoNames.CENTER_CLOSETOP_CLOSEMID_CLOSEBOTTOM_AUTO_NAME, new AutoTrajectory(DRIVE_SUBSYSTEM, Constants.AutoNames.CENTER_CLOSETOP_CLOSEMID_CLOSEBOTTOM_AUTO_NAME).getCommand());
m_automodeChooser.addOption(Constants.AutoNames.CENTER_CLOSEBOTTOM_CLOSEMID_CLOSETOP_FARTOP_AUTO_NAME, new AutoTrajectory(DRIVE_SUBSYSTEM, Constants.AutoNames.CENTER_CLOSEBOTTOM_CLOSEMID_CLOSETOP_FARTOP_AUTO_NAME).getCommand());
m_automodeChooser.addOption(Constants.AutoNames.RIGHT_FARBOTTOM_FARMIDBOTTOM_AUTO_NAME, new AutoTrajectory(DRIVE_SUBSYSTEM, Constants.AutoNames.RIGHT_FARBOTTOM_FARMIDBOTTOM_AUTO_NAME).getCommand());
m_automodeChooser.addOption(Constants.AutoNames.LEFT_CLOSETOP_FARTOP_AUTO_NAME, new AutoTrajectory(DRIVE_SUBSYSTEM, Constants.AutoNames.LEFT_CLOSETOP_FARTOP_AUTO_NAME).getCommand());
m_automodeChooser.addOption(Constants.AutoNames.LEFT_WAIT_FARTOP_AUTO_NAME, new AutoTrajectory(DRIVE_SUBSYSTEM, Constants.AutoNames.LEFT_WAIT_FARTOP_AUTO_NAME).getCommand());
m_automodeChooser.addOption(Constants.AutoNames.RIGHT_FARDISRUPT_FARTOP_AUTO_NAME, new AutoTrajectory(DRIVE_SUBSYSTEM, Constants.AutoNames.RIGHT_FARDISRUPT_FARTOP_AUTO_NAME).getCommand());
m_automodeChooser.addOption(Constants.AutoNames.CENTER_CLOSETOP_CLOSEMID_CLOSEBOTTOM_AUTO_NAME.getFirst(), new AutoTrajectory(DRIVE_SUBSYSTEM, Constants.AutoNames.CENTER_CLOSETOP_CLOSEMID_CLOSEBOTTOM_AUTO_NAME.getSecond()).getCommand());
m_automodeChooser.addOption(Constants.AutoNames.CENTER_CLOSEBOTTOM_CLOSEMID_CLOSETOP_FARTOP_AUTO_NAME.getFirst(), new AutoTrajectory(DRIVE_SUBSYSTEM, Constants.AutoNames.CENTER_CLOSEBOTTOM_CLOSEMID_CLOSETOP_FARTOP_AUTO_NAME.getSecond()).getCommand());
m_automodeChooser.addOption(Constants.AutoNames.RIGHT_FARBOTTOM_FARMIDBOTTOM_AUTO_NAME.getFirst(), new AutoTrajectory(DRIVE_SUBSYSTEM, Constants.AutoNames.RIGHT_FARBOTTOM_FARMIDBOTTOM_AUTO_NAME.getSecond()).getCommand());
m_automodeChooser.addOption(Constants.AutoNames.LEFT_CLOSETOP_FARTOP_AUTO_NAME.getFirst(), new AutoTrajectory(DRIVE_SUBSYSTEM, Constants.AutoNames.LEFT_CLOSETOP_FARTOP_AUTO_NAME.getSecond()).getCommand());
m_automodeChooser.addOption(Constants.AutoNames.LEFT_WAIT_FARTOP_AUTO_NAME.getFirst(), new AutoTrajectory(DRIVE_SUBSYSTEM, Constants.AutoNames.LEFT_WAIT_FARTOP_AUTO_NAME.getSecond()).getCommand());
m_automodeChooser.addOption(Constants.AutoNames.RIGHT_FARDISRUPT_FARTOP_AUTO_NAME.getFirst(), new AutoTrajectory(DRIVE_SUBSYSTEM, Constants.AutoNames.RIGHT_FARDISRUPT_FARTOP_AUTO_NAME.getSecond()).getCommand());
}

/**
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