From 1dd2b4316b601b8f256d74044bd9e8b6c95d771f Mon Sep 17 00:00:00 2001 From: FRCTeam3255-Shared Date: Fri, 14 Aug 2026 21:07:01 -0700 Subject: [PATCH 1/3] 94-OSidePreloadAndBackout --- src/main/java/frc/robot/RobotContainer.java | 12 ++++++++++++ 1 file changed, 12 insertions(+) diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index f0166d6..af794d6 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -25,6 +25,7 @@ import frc.robot.DeviceIDs.controllerIDs; import frc.robot.commands.AddVisionMeasurement; import frc.robot.commands.ResetPose; +import frc.robot.commands.states.ShootingOnFly; import frc.robot.constants.ChoreoTraj; import frc.robot.constants.ConstAuto; import frc.robot.constants.ConstField; @@ -239,6 +240,14 @@ public void configAutonomous() { ConstAuto.NEUTRAL_SHOOTING_TIMEOUT)); autoStartingPoses.put(DSideNeutral, ChoreoTraj.DSideTrenchToNeutral); + Command OSidePreloadAndBackup = Commands.sequence( + OSidePreloadAndBackup.asProxy(), + IntakeAndShootOnTheFly(, null, null, null, null) + + + + ) + Command DSideDoubleNeutral = Commands.sequence( DSideNeutral.asProxy(), IntakeAndShootOnTheFly(ChoreoTraj.DSideTrenchToNeutral, @@ -280,6 +289,9 @@ public void configAutonomous() { } // START OF AUTO COMMANDS + + + Command ShootOnly(Command prepPreset, Time shootingTime, Time preppingTime) { return Commands.sequence( Commands.runOnce(() -> stateMachineInstance.setRobotState(RobotState.NONE)).asProxy(), From 5382af4413ba7e00f5afbed486cd937576d37443 Mon Sep 17 00:00:00 2001 From: BrodyKarr Date: Sat, 15 Aug 2026 12:11:01 -0700 Subject: [PATCH 2/3] Update RobotContainer.java --- src/main/java/frc/robot/RobotContainer.java | 10 ---------- 1 file changed, 10 deletions(-) diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index af794d6..83fc02d 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -240,14 +240,6 @@ public void configAutonomous() { ConstAuto.NEUTRAL_SHOOTING_TIMEOUT)); autoStartingPoses.put(DSideNeutral, ChoreoTraj.DSideTrenchToNeutral); - Command OSidePreloadAndBackup = Commands.sequence( - OSidePreloadAndBackup.asProxy(), - IntakeAndShootOnTheFly(, null, null, null, null) - - - - ) - Command DSideDoubleNeutral = Commands.sequence( DSideNeutral.asProxy(), IntakeAndShootOnTheFly(ChoreoTraj.DSideTrenchToNeutral, @@ -290,8 +282,6 @@ public void configAutonomous() { // START OF AUTO COMMANDS - - Command ShootOnly(Command prepPreset, Time shootingTime, Time preppingTime) { return Commands.sequence( Commands.runOnce(() -> stateMachineInstance.setRobotState(RobotState.NONE)).asProxy(), From c7ef1d5bcb3868263f8fa55873bdfff9de9754cc Mon Sep 17 00:00:00 2001 From: BrodyKarr Date: Sat, 15 Aug 2026 12:20:31 -0700 Subject: [PATCH 3/3] made and tested OSidePreloadAndBackup --- src/main/java/frc/robot/RobotContainer.java | 6 ++++++ 1 file changed, 6 insertions(+) diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index 252a957..b174d21 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -300,6 +300,11 @@ public void configAutonomous() { ConstAuto.OUTPOST_SHOOTING_TIMEOUT)); autoStartingPoses.put(OSideDoubleNeutralWithOutpost, ChoreoTraj.OSideTrenchToNeutral); + Command OSidePreloadAndBackup = Commands.sequence( + ShootingOnMove(ChoreoTraj.OSidePreloadAndBackup, + ConstAuto.OUTPOST_SHOOTING_TIMEOUT)); + autoStartingPoses.put(OSidePreloadAndBackup, ChoreoTraj.OSidePreloadAndBackup); + // Example: Add autonomous routines to the chooser // Add more autonomous routines as needed, e.g.:\ // autoChooser.addOption("Score and Leave", runPath("ScoreAndLeave")); @@ -313,6 +318,7 @@ public void configAutonomous() { autoChooser.addOption("OSideDoubleNeutral", OSideDoubleNeutral); autoChooser.addOption("OSideNeutralWithOutpost", OSideNeutralWithOutpost); autoChooser.addOption("OSideDoubleNeutralWithOutpost", OSideDoubleNeutralWithOutpost); + autoChooser.addOption("OSidePreloadAndBackup", OSidePreloadAndBackup); // enter which we want to do based on name autoChooser.onChange(selectedAuto -> {