Make four piece from old 5 piece

StuyPulse · Apr 8, 2024 · e475133 · e475133
1 parent 7cbd857
commit e475133
Show file tree

Hide file tree

Showing 2 changed files with 8 additions and 17 deletions.
diff --git a/src/main/java/com/stuypulse/robot/RobotContainer.java b/src/main/java/com/stuypulse/robot/RobotContainer.java
@@ -309,8 +309,8 @@ public void configureAutons() {
         AutonConfig CBAED = new AutonConfig("5 CBAE", SixPieceCBAED::new,
         "Preload to C Close", "Close Preload to C", "C to B", "B to A","A to E", "E to Shoot", "Shoot to D (CBAED)", "D to Shoot");
 
-        AutonConfig CBAED_OLD = new AutonConfig("5 CBAE Old", SixPieceCBAEDOld::new,
-        "Preload to C", "C to B", "B to A", "A to E", "E to Shoot", "Shoot to D (CBAED)", "D to Shoot");
+        AutonConfig CBA = new AutonConfig("4 CBA", FourPieceCBA::new,
+        "Preload to C", "C to B", "B to A");
 
         AutonConfig CHGF = new AutonConfig("4.5 Piece CHGF", FivePieceCHGF::new,
         "Preload to C", "CShoot To H (CHGF)", "H to HShoot (HGF)", "HShoot to G (HGF)", "G to Shoot (HGF)", "GShoot to F (HGF)");
@@ -327,14 +327,12 @@ public void configureAutons() {
         HGF.registerDefaultBlue(autonChooser)
             .registerRed(autonChooser);
 
-        CBAED
-            .registerBlue(autonChooser)
+        CBAED.registerBlue(autonChooser)
             .registerRed(autonChooser);
 
-        CHGF
-            .registerBlue(autonChooser)
+        CBA.registerBlue(autonChooser)
             .registerRed(autonChooser);
-        
+
         SmartDashboard.putData("Autonomous", autonChooser);
 
     }

diff --git a/...ommands/auton/CBADE/SixPieceCBAEDOld.java → ...ot/commands/auton/CBADE/FourPieceCBA.java b/...ommands/auton/CBADE/SixPieceCBAEDOld.java → ...ot/commands/auton/CBADE/FourPieceCBA.java
@@ -1,7 +1,6 @@
 package com.stuypulse.robot.commands.auton.CBADE;
 
 import com.pathplanner.lib.path.PathPlannerPath;
-import com.stuypulse.robot.commands.auton.FollowPathAlignAndShoot;
 import com.stuypulse.robot.commands.auton.FollowPathAndIntake;
 import com.stuypulse.robot.commands.conveyor.ConveyorShootRoutine;
 import com.stuypulse.robot.commands.shooter.ShooterPodiumShot;
@@ -16,9 +15,9 @@
 /**
  * Shoots second shot at podium, shoots first shot between C and B
  */
-public class SixPieceCBAEDOld extends SequentialCommandGroup {
+public class FourPieceCBA extends SequentialCommandGroup {
 
-    public SixPieceCBAEDOld(PathPlannerPath... paths) {
+    public FourPieceCBA(PathPlannerPath... paths) {
         addCommands(
             new ParallelCommandGroup(
                 new WaitCommand(Auton.SHOOTER_STARTUP_DELAY)
@@ -40,13 +39,7 @@ public SixPieceCBAEDOld(PathPlannerPath... paths) {
 
             new FollowPathAndIntake(paths[2]),
             new SwerveDriveToShoot(),
-            new ConveyorShootRoutine(),
-
-            new FollowPathAndIntake(paths[3]),
-            new FollowPathAlignAndShoot(paths[4], new SwerveDriveToShoot()),
-
-            new FollowPathAndIntake(paths[5]),
-            new FollowPathAlignAndShoot(paths[6], new SwerveDriveToShoot())
+            new ConveyorShootRoutine()
         );
     }