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Fix code blocks #6

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Feb 4, 2024
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Fix code blocks #6

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302 changes: 151 additions & 151 deletions docs/programming/autonomous.md
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Original file line number Diff line number Diff line change
Expand Up @@ -44,9 +44,9 @@ In this section we will be going over
!!! summary ""
**4)** Inside type:

'''java
distance = inches;
'''
```java
distance = inches;
```

!!! summary ""
**5)** In **initialize** add our **resetDriveEncoder** method
Expand All @@ -61,74 +61,74 @@ In this section we will be going over
!!! summary ""
**7)** In **isFinished** type:

'''java
return Robot.m_drivetrain.getDriveEncoderDistance() == distance;
'''
```java
return Robot.m_drivetrain.getDriveEncoderDistance() == distance;
```
!!! summary ""
**8)** In **end** stop the **Drivetrain** and call **end** in **interrupted**

??? Example

Your full **DriveDistance.java** should look like this

'''java
package frc.robot.commands;

import edu.wpi.first.wpilibj.command.Command;
import frc.robot.Robot;
import frc.robot.RobotPreferences;

public class DriveDistance extends Command {

private double distance;

public DriveDistance(double inches) {
// Use requires() here to declare subsystem dependencies
// eg. requires(chassis);
requires(Robot.m_drivetrain);
distance = inches;
}

// Called just before this Command runs the first time
@Override
protected void initialize() {
Robot.m_drivetrain.resetDriveEncoder();
}

// Called repeatedly when this Command is scheduled to run
@Override
protected void execute() {
Robot.m_drivetrain.arcadeDrive(RobotPreferences.driveDistanceSpeed(), 0.0);
}

// Make this return true when this Command no longer needs to run execute()
@Override
protected boolean isFinished() {
return Robot.m_drivetrain.getDriveEncoderDistance() == distance;
}

// Called once after isFinished returns true
@Override
protected void end() {
Robot.m_drivetrain.arcadeDrive(0.0, 0.0);
}

// Called when another command which requires one or more of the same
// subsystems is scheduled to run
@Override
protected void interrupted() {
end();
}
Your full **DriveDistance.java** should look like this

```java
package frc.robot.commands;

import edu.wpi.first.wpilibj.command.Command;
import frc.robot.Robot;
import frc.robot.RobotPreferences;

public class DriveDistance extends Command {

private double distance;

public DriveDistance(double inches) {
// Use requires() here to declare subsystem dependencies
// eg. requires(chassis);
requires(Robot.m_drivetrain);
distance = inches;
}

// Called just before this Command runs the first time
@Override
protected void initialize() {
Robot.m_drivetrain.resetDriveEncoder();
}

// Called repeatedly when this Command is scheduled to run
@Override
protected void execute() {
Robot.m_drivetrain.arcadeDrive(RobotPreferences.driveDistanceSpeed(), 0.0);
}

// Make this return true when this Command no longer needs to run execute()
@Override
protected boolean isFinished() {
return Robot.m_drivetrain.getDriveEncoderDistance() == distance;
}
'''

// Called once after isFinished returns true
@Override
protected void end() {
Robot.m_drivetrain.arcadeDrive(0.0, 0.0);
}

// Called when another command which requires one or more of the same
// subsystems is scheduled to run
@Override
protected void interrupted() {
end();
}
}
```

The code you typed in **RobotPreferences.java** should be this
'''java
public static final double driveDistanceSpeed() {
return Preferences.getInstance().getDouble("driveDistanceSpeed", 0.5);
}
'''
The code you typed in **RobotPreferences.java** should be this

```java
public static final double driveDistanceSpeed() {
return Preferences.getInstance().getDouble("driveDistanceSpeed", 0.5);
}
```

## Creating The Autonomous Command

Expand All @@ -140,10 +140,10 @@ In this section we will be going over
!!! summary ""
**2)** In the constructor type

'''java
addSequential(new DriveDistance(RobotPreferences.autoDriveDistance()));
addSequential(new ShooterUp());
'''
```java
addSequential(new DriveDistance(RobotPreferences.autoDriveDistance()));
addSequential(new ShooterUp());
```

- To add a **command** to run in a **command group** use **addSequential** to execute commands in order

Expand Down Expand Up @@ -182,55 +182,55 @@ In this section we will be going over

Your full **DoDelay.java** should look like this

'''java
package frc.robot.commands;

import edu.wpi.first.wpilibj.command.Command;

public class DoDelay extends Command {

private double expireTime;
private double timeout;

public DoDelay(double seconds) {
// Use requires() here to declare subsystem dependencies
// eg. requires(chassis);
timeout = seconds;
}

protected void startTimer() {
expireTime = timeSinceInitialized() + timeout;
}

// Called just before this Command runs the first time
@Override
protected void initialize() {
startTimer();
}

// Called repeatedly when this Command is scheduled to run
@Override
protected void execute() {
}

// Make this return true when this Command no longer needs to run execute()
@Override
protected boolean isFinished() {
return (timeSinceInitialized() >= expireTime);
}

// Called once after isFinished returns true
@Override
protected void end() {
}

// Called when another command which requires one or more of the same
// subsystems is scheduled to run
@Override
protected void interrupted() {
}
```java
package frc.robot.commands;

import edu.wpi.first.wpilibj.command.Command;

public class DoDelay extends Command {

private double expireTime;
private double timeout;

public DoDelay(double seconds) {
// Use requires() here to declare subsystem dependencies
// eg. requires(chassis);
timeout = seconds;
}

protected void startTimer() {
expireTime = timeSinceInitialized() + timeout;
}

// Called just before this Command runs the first time
@Override
protected void initialize() {
startTimer();
}

// Called repeatedly when this Command is scheduled to run
@Override
protected void execute() {
}

// Make this return true when this Command no longer needs to run execute()
@Override
protected boolean isFinished() {
return (timeSinceInitialized() >= expireTime);
}
'''

// Called once after isFinished returns true
@Override
protected void end() {
}

// Called when another command which requires one or more of the same
// subsystems is scheduled to run
@Override
protected void interrupted() {
}
}
```

## Adding the DoDelay Command to Autonomous.java

Expand All @@ -239,51 +239,51 @@ In this section we will be going over

??? Example

Your full **Autonomous.java** should look like this

'''java
package frc.robot.commands;

import edu.wpi.first.wpilibj.command.CommandGroup;
import frc.robot.RobotPreferences;

public class Autonomous extends CommandGroup {
/**
* Add your docs here.
*/
public Autonomous() {
addSequential(new DriveDistance(RobotPreferences.autoDriveDistance()));
addSequential(new DoDelay(RobotPreferences.autoDelay()));
addSequential(new ShooterUp());
}
Your full **Autonomous.java** should look like this

```java
package frc.robot.commands;

import edu.wpi.first.wpilibj.command.CommandGroup;
import frc.robot.RobotPreferences;

public class Autonomous extends CommandGroup {
/**
* Add your docs here.
*/
public Autonomous() {
addSequential(new DriveDistance(RobotPreferences.autoDriveDistance()));
addSequential(new DoDelay(RobotPreferences.autoDelay()));
addSequential(new ShooterUp());
}
'''

The code you typed in **RobotPreferences.java** should look like this
}
```

'''java
public static double autoDelay() {
return Preferences.getInstance().getDouble("autoDelay", 5.0);
}
The code you typed in **RobotPreferences.java** should look like this

```java
public static double autoDelay() {
return Preferences.getInstance().getDouble("autoDelay", 5.0);
}

public static double autoDriveDistance() {
return Preferences.getInstance().getDouble("autoDriveDistance", 12.0);
}
'''
public static double autoDriveDistance() {
return Preferences.getInstance().getDouble("autoDriveDistance", 12.0);
}
```

## Adding Our Autonomous Command to Robot.java

- In order to run our **Autonomous** command in autonomous we will have to put it in **Robot.java** so that it will run as soon as the robot enters the autonomous mode

- In **Robot.java** under **autonomousInit** find **m_autonomousCommand = m_chooser.getSelected();** and change it to

<!-- TODO: Explain why we don't use chooser? -->
'''java
public void autonomousInit() {
m_autonomousCommand = new Autonomous();
...
'''
<!-- TODO: Explain why we don't use chooser? -->

```java
public void autonomousInit() {
m_autonomousCommand = new Autonomous();
...
```

## Testing Our Autonomous Command

Expand Down
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