Robot.java 文件源码

/**
 * This autonomous (along with the chooser code above) shows how to select
 * between different autonomous modes using the dashboard. The sendable
 * chooser code works with the Java SmartDashboard. If you prefer the
 * LabVIEW Dashboard, remove all of the chooser code and uncomment the
 * getString code to get the auto name from the text box below the Gyro
 * <p>
 * You can add additional auto modes by adding additional commands to the
 * chooser code above (like the commented example) or additional comparisons
 * to the switch structure below with additional strings and commands.
 */
public void autonomousInit()
{
    DRIVE_TRAIN.setAutonSettings();
    ArrayList<Vector2f> waypoints = new ArrayList<>();

    waypoints.add(new Vector2f(0,0));
    waypoints.add(new Vector2f(5,5));
    waypoints.add(new Vector2f(6,21));
    Scheduler.getInstance().add(new PurePursuitCommand(waypoints, LOOKAHEAD_DISTANCE));
    // Scheduler.getInstance().add(AutoSwitcher.getAutoInstance());
    NAVX.reset();
}