fix: update auto routines to use new grid scoring

flamingchickens1540 · Apr 1, 2023 · 3d66418 · 3d66418
1 parent 013dae9
commit 3d66418
Show file tree

Hide file tree

Showing 6 changed files with 7 additions and 7 deletions.
diff --git a/src/main/java/org/team1540/robot2023/commands/auto/Auto2PieceTaxiConeVision.java b/src/main/java/org/team1540/robot2023/commands/auto/Auto2PieceTaxiConeVision.java
@@ -24,7 +24,7 @@ public Auto2PieceTaxiConeVision(Drivetrain drivetrain, Arm arm, WheeledGrabber i
         List<Command> pathCommands = getPathPlannerDriveCommandGroup(drivetrain, grid.getPathName("2PieceTaxiConeVision"), new PathConstraints(4, 2), true);
         addCommands(
 
-                new AutoGridScore(drivetrain, arm, Constants.Auto.highCone.withPolePosition(PolePosition.LEFT), intake, null, false),
+                new AutoCone(drivetrain, arm, Constants.Auto.highCone.withPolePosition(PolePosition.LEFT), intake, null, false),
                 Commands.parallel(
                         new GrabberIntakeCommand(intake),
                         Commands.sequence(
@@ -45,7 +45,7 @@ public Auto2PieceTaxiConeVision(Drivetrain drivetrain, Arm arm, WheeledGrabber i
                                 )
                         )
                 ),
-                new AutoGridScore(drivetrain, arm, Constants.Auto.highCube.withPolePosition(PolePosition.CENTER), intake, null, true)
+                new AutoCube(drivetrain, arm, Constants.Auto.highCube.withPolePosition(PolePosition.CENTER), intake, true)
 
         );
     }

diff --git a/src/main/java/org/team1540/robot2023/commands/auto/AutoBottomGrid2_5PieceTaxi.java b/src/main/java/org/team1540/robot2023/commands/auto/AutoBottomGrid2_5PieceTaxi.java
@@ -25,7 +25,7 @@ public AutoBottomGrid2_5PieceTaxi(Drivetrain drivetrain, Arm arm, WheeledGrabber
         }, false);
         setName("BottomGrid2.5PieceTaxi");
         addCommands(
-                new AutoGridScore(drivetrain, arm, Constants.Auto.highCube.withPolePosition(PolePosition.CENTER), intake, null, false),
+                new AutoCube(drivetrain, arm, Constants.Auto.highCube.withPolePosition(PolePosition.CENTER), intake, false),
                 Commands.parallel(
                         new GrabberIntakeCommand(intake),
                         Commands.sequence(

diff --git a/src/main/java/org/team1540/robot2023/commands/auto/AutoMiddleGrid1PieceTaxiBalance.java b/src/main/java/org/team1540/robot2023/commands/auto/AutoMiddleGrid1PieceTaxiBalance.java
@@ -20,7 +20,7 @@ public AutoMiddleGrid1PieceTaxiBalance(Drivetrain drivetrain, Arm arm, WheeledGr
         List<Command> commands = getPathPlannerDriveCommandGroup(drivetrain, "MiddleGrid1PieceTaxiBalance", new PathConstraints(1, 1), false);
         addCommands(
 //                new AutoGridScore(drivetrain, arm, Constants.Auto.highCube.withPolePosition(PolePosition.CENTER), intake),
-                new AutoGridScore(drivetrain, arm, Constants.Auto.highCube.withPolePosition(PolePosition.CENTER), intake, null, false),
+                new AutoCube(drivetrain, arm, Constants.Auto.highCube.withPolePosition(PolePosition.CENTER), intake, false),
                 new RetractAndPivotCommand(arm, Rotation2d.fromDegrees(45)),
                 commands.get(0),
                 Commands.parallel(

diff --git a/src/main/java/org/team1540/robot2023/commands/auto/AutoTopGrid2PieceTaxiVision.java b/src/main/java/org/team1540/robot2023/commands/auto/AutoTopGrid2PieceTaxiVision.java
@@ -23,7 +23,7 @@ public AutoTopGrid2PieceTaxiVision(Drivetrain drivetrain, Arm arm, WheeledGrabbe
         List<Command> pathCommands = getPathPlannerDriveCommandGroup(drivetrain, "TopGrid2PieceTaxiVision");
         addCommands(
 
-                new AutoGridScore(drivetrain, arm, Constants.Auto.highCube.withPolePosition(PolePosition.CENTER), intake, null, false),
+                new AutoCube(drivetrain, arm, Constants.Auto.highCube.withPolePosition(PolePosition.CENTER), intake, false),
                 Commands.parallel(
                         new GrabberIntakeCommand(intake),
                         Commands.sequence(

diff --git a/src/main/java/org/team1540/robot2023/commands/auto/AutoTopGrid2_5PieceTaxi.java b/src/main/java/org/team1540/robot2023/commands/auto/AutoTopGrid2_5PieceTaxi.java
@@ -21,7 +21,7 @@ public AutoTopGrid2_5PieceTaxi(Drivetrain drivetrain, Arm arm, WheeledGrabber in
         List<Command> pathCommands = getPathPlannerDriveCommandGroup(drivetrain, "TopGrid3PieceTaxi");
         setName("TopGrid2.5PieceTaxi");
         addCommands(
-                new AutoGridScore(drivetrain, arm, Constants.Auto.highCube.withPolePosition(PolePosition.CENTER), intake, null, false),
+                new AutoCube(drivetrain, arm, Constants.Auto.highCube.withPolePosition(PolePosition.CENTER), intake, false),
                 Commands.parallel(
                         new GrabberIntakeCommand(intake),
                         Commands.sequence(

diff --git a/src/main/java/org/team1540/robot2023/commands/auto/AutoTopGrid3PieceTaxi.java b/src/main/java/org/team1540/robot2023/commands/auto/AutoTopGrid3PieceTaxi.java
@@ -20,7 +20,7 @@ public class AutoTopGrid3PieceTaxi extends AutoCommand {
     public AutoTopGrid3PieceTaxi(Drivetrain drivetrain, Arm arm, WheeledGrabber intake) {
         List<Command> pathCommands = getPathPlannerDriveCommandGroup(drivetrain, "TopGrid3PieceTaxi");
         addCommands(
-                new AutoGridScore(drivetrain, arm, Constants.Auto.highCube.withPolePosition(PolePosition.CENTER), intake, null, false),
+                new AutoCube(drivetrain, arm, Constants.Auto.highCube.withPolePosition(PolePosition.CENTER), intake, false),
                 Commands.parallel(
                         new GrabberIntakeCommand(intake),
                         Commands.sequence(