Run a command with conditions

[cpapplefamily]

Originally Posted by kylelanman

new ShootBall()

Simply creates an instance of the command. That instance needs to be scheduled by running ->Start()

Command* c = new ShootBall()
c->Start()

Another option is to build the command group on the fly. Here is an example of how we do this.

m_defenseChooser = new SendableChooser();
		//Group A
		m_defenseChooser->AddObject("Portcullis", new TraversePortcullisCommandGroup());
		m_defenseChooser->AddObject("Cheval de Friese", new TraverseChevalFrieseCommandGroup());

		//Group B
		m_defenseChooser->AddObject("Moat", new TraverseMoatCommandGroup());
		m_defenseChooser->AddObject("Ramparts", new TraverseRampartsCommandGroup());

		//Group C
		m_defenseChooser->AddObject("Drawbridge", new TraverseDrawbridgeCommandGroup());
		m_defenseChooser->AddObject("Sally Port", new TraversePortCommandGroup());

		//Group D
		m_defenseChooser->AddObject("Rock Wall", new TraverseWallCommandGroup());
		m_defenseChooser->AddObject("Rough Terrain", new TraverseTerrainCommandGroup());

		m_defenseChooser->AddDefault("Nothing", (void*)0);

		SmartDashboard::PutData("Defense Chooser",m_defenseChooser);

		m_posChooser = new SendableChooser();
		m_posChooser->AddDefault("Nothing", NULL);
//		m_posChooser->AddObject("Pos 1 (Low Bar)", (void*)1);
		m_posChooser->AddObject("Pos 2", (void*)2);
		m_posChooser->AddObject("Pos 3", (void*)3);
		m_posChooser->AddObject("Pos 4", (void*)4);
		m_posChooser->AddObject("Pos 5", (void*)5);

		SmartDashboard::PutData("Position Chooser", m_posChooser);

void AutonomousInit()
	{
		autonomousCommand.reset(new GeneratedAutoCommandGroup((Command*)m_defenseChooser->GetSelected(),
				(int)m_posChooser->GetSelected(),
				(int)m_backChooser->GetSelected()));
		if (autonomousCommand != NULL)
			autonomousCommand->Start();
}

class GeneratedAutoCommandGroup: public CommandGroup
{
public:
	GeneratedAutoCommandGroup(Command* traverseCommand, int position, int driveBack)
		: CommandGroup("GeneratedAutoCommandGroup"){
		double angleArray[6] = {0, 0, 30, 0, 0, -25};
		if (traverseCommand){
			AddSequential(new AutoBlockOneCommandGroup());
			AddSequential(traverseCommand);
			AddSequential(new RotateToAngleCommand(angleArray[position]));    //disabling for middle pos
			if (position == 2) {
				AddSequential(new LockOnTargetCommand(CameraProcessor::LEFT_TARGET));
			} else {
				AddSequential(new LockOnTargetCommand(CameraProcessor::RIGHT_TARGET));
			}
			AddSequential(new AutoBlockTwoCommandGroup());
			AddSequential(new RotateToAngleCommand(0));
			AddSequential(new DriveDistanceCommand(.5, .5, 2000));	
			AddSequential(new Rotate180Command());
			if (driveBack==1) {
				AddSequential(new DriveDistanceCommand(.5, .5, 2000));
				AddSequential(traverseCommand);
			}
		}
	}
};

Ok so your rebuilding the command in the

void AutonomousInit()

That makes since because with more testing now I found the command always use the status of the Sendable chooser when the Roborio booted up. When rebuilding the Command before

autonomousCommand->Start()

you capture the current state of the sendable Choosers.

[cpapplefamily]

In an effort to continue down this rabbit hole here is where I sit.

I have continued with one of the original ideas before I attempt to try the build the autonomousCommand just before running it. To better discusse the code here is a link to the Github repo
https://github.com/GraniteCiyGearhea...ntsABot_Talahi
If we drill to

FIRSTStronghold2016/Copy of SirAntsABot_Talahi/src/org/usfirst/frc3244/SirAntsABot/commands/Auto_22_Demo_03_Drive_N_Score

We can see we are driving the Bot with a few commands before we:

addSequential(new Auto_Score_Ball_In_Goal());

This Code is now executing as I desired by only shooting if the goalChooser is not zero. Thanks to kylelanman for pointing it out we need to start the commands.

Now the trouble I'm having is getting the next sequence to continue when

Auto_Score_Ball_In_Goal()

is done. I have inserted some prints to show me who's end() and interrupted() methods are being called. The time out was just a test in Auto_Score_Ball_In_Goal(). I have also tried to use !c.isRunning. If you look at what c is its a command group called "PinBall_Cycle". This group sets the claw and shoots the ball. I also put system.out.println in these end methods to see if they are completing. It seems to me that everything works as planed and completing, only I'm not returning to the Auto_22_Demo_03_Drive_N_Score to finish the last two commands in the group.

Maybe someone can point me to or explain to me the life cycle of a command and what is needed to move onto the next sequence in a command group.

[Joe Ross]

Calling end() doesn't cause a command to end. Making isFinished() return true does.

I think the problem is that the commands you are starting are canceling Auto_22_Demo_03_Drive_N_Score because they require the same subsystems.