ParallelCommandGroup .onlyWhile() Command

[Xactlysharp]

We (our programming TEAM), have being trying to create a command for autonomous paths, that will rev our shooter up to speed, and angle our shooter to the correct °, however, we are having issues with the last command, which feeds a note into the shooter.

We need to have the Pivot° command, as well as our revShooter command run in parallel, and until the command ends, so we have to use a parallel command group.

However, we can’t seem to be able to delay our command which feeds a note into the shooter.

We currently have this, but can’t find a way to get a booleanSupplier for the .onlyWhile command:

Any ideas on how we can either delay the FeedNoteAuto command, or find a booleanSupplier for .onlyWhile()? (Assuming the supplier would be something similar to isShooterAtSpeed)

Thanks in advance; code

[Fletch1373]

You could do a waitcommand with .until() before it.

Edit: just realized youre in a parallel race group… this idea might still work, but its a little more complicated than originally thought.

[Tyson453]

Couldn’t you just do a SequentialCommandGroup with the shooter stuff in the race group and the FeedNoteAuto comes after? Like this:

new SequentialCommandGroup (
    new ParallelRaceGroup(
        new AnglePivot(pivot).withTimeout(4),
        new RevShooter(shooter)
    ),
    new FeedNoteAuto(storage)
)

[Xactlysharp]

The revShooter and anglePivot commands would end before the note gets shot, or at least thats what happened when i tried this

[VimalBuckley]

Maybe you could use .beforeStarting(new WaitCommand(x)) instead of .onlyWhile? You’d have to get the timing right, but I think that could work. x would be however many seconds you want to wait

[Gavin0]

If I’m understanding correct, could you do something like

new ParallelRaceGroup(
  new AnglePivout(pivot),
  new RevShooter(Shooter),
  new SequentialCommandGroup(
    new WaitCommand(4),
    new FeedNoteAuto(storage)
  )
)

if you just wanted to make a delay. Or if you wanted to wait for the anglePivot maybe you could make a function in Pivot.java that checks if the angle is close to the calculated one. Something like

return Math.isNear(pivotPID.calculate(pivotRelativeEncoder.getPosition(), calculateAngle()), povitRelativeEncoder.getPosition(), 0.1)  // the order here might be different, 0.1 is tolerance

and then do .until() or onlyWhile(pivot::atAngle) or however.

I’m writing this on my phone right now so I cant check the syntax or anything right now, but I can later today when I get home.

[Xactlysharp]

Id have to check, but im almost certain .beforeStarting is only for a sequential command group, idk if that will work with a parallel command group

Edit: .beforeStarting is only for sequential command groups, 95% sure those don’t work with parallel command groups

[Xactlysharp]

Ill check this once I get back to my laptop, seems like it may work

[Xactlysharp]

So, it seems like it should work in theory, but I can’t seem to find an import for Math.isClose

(I did this with our shooter because it takes longer to rev to speed than our pivot.

[Gavin0]

Oops its MathUtil.isNear I misremembered.

but in your shooter subsystem you already have the static variable isatspeed, so for your boolean supplier you can just make a lambda function. .onlyWhile(()->{return Shooter.isatspeed;}

[Xactlysharp]

Awesome, thanks.
I’ll test this when I get a chance

[NewtonCrosby]

So you probably don’t want a race group in this case. Check out this link with a pretty picture of the various groups.

It sounds like what you want is in parallel

1. Angle the shooter pivot to a specific point.
2. Spin the wheels to the appropriate speed

and then
3. Index the note into the shooter.

Lots of ways to compose that, but one example could be:

    new AnglePivot(pivot).until(pivot.atAngle())
    .alongwith(new Revshooter(shooter).until(shooter::atSpeed)
    .withTimeout(4)
    .andthen(new FeedNoteAuto(storage)
    .andThen(new StopShooter(shooter)  // assuming you want to the motors to stop

If my Java understanding is correct, that will create a ParallelRaceGroup wherein the ParallelCommand Group(AnglePivot, Shooter Spin Up) and a timeout of 4 seconds are all racing.

That ParallelRaceGroup will then be the first command of the SequentialCommandGroup, which will then index the note, and stop the shooters.

[Xactlysharp]

This would stop the pivot and shooter, then shoot, instead of stopping the shooter after a note is shot
(I think)

[Xactlysharp]

With this comit, it works as intended (will send video later)

it shoots

Edit: Video

Auton Shoot Test #1

It pivots up after shooting because we hit the AT, don’t worry about that…

[Starlight220]

These decorators compose commands within each other, and all work with each other. In this case, beforeStarting would create a SequentialCommandGroup containing a ParallelCommandGroup.