Merge branch 'main' of https://github.com/redshiftrobotics/crescendo-…

…2024

src/main/java/frc/robot/commands/MoveToTagAndShootSpeaker.java

@@ -0,0 +1,66 @@
+package frc.robot.commands;
+
+import edu.wpi.first.math.geometry.Rotation2d;
+import edu.wpi.first.math.geometry.Transform3d;
+import edu.wpi.first.math.geometry.Translation2d;
+import edu.wpi.first.wpilibj2.command.Command;
+import edu.wpi.first.wpilibj2.command.Commands;
+import edu.wpi.first.wpilibj2.command.WaitCommand;
+import frc.robot.Constants.ArmConstants;
+import frc.robot.Constants.IntakeShooterConstants;
+import frc.robot.subsystems.SwerveDrivetrain;
+import frc.robot.subsystems.Vision;
+import frc.robot.subsystems.arm.Arm;
+import frc.robot.subsystems.intake.IntakeShooter;
+
+public class MoveToTagAndShootSpeaker extends Command {
+	private final SwerveDrivetrain drivetrain;
+	private final Vision vision;
+	private final Arm arm;
+	private final IntakeShooter shooter;
+	final int[] tags = { 7, 4 };
+	final double tagOffset = 1.5; // Meters
+
+	public MoveToTagAndShootSpeaker(SwerveDrivetrain drivetrain, Vision vision, Arm arm, IntakeShooter intakeShooter) {
+		this.drivetrain = drivetrain;
+		this.vision = vision;
+		this.arm = arm;
+		this.shooter = intakeShooter;
+		addRequirements(drivetrain, vision, arm, shooter);
+	}
+
+	@Override
+	public void initialize() {
+		if (vision != null && vision.isEnabled()) {
+			Transform3d trans = null;
+			for (int i : tags) {
+				trans = vision.getTransformToTag(i);
+			}
+
+			if (trans != null) {
+				Rotation2d rotateGoal = trans.getRotation().toRotation2d();
+				Translation2d transGoal = trans.getTranslation().toTranslation2d()
+						.plus(new Translation2d(-tagOffset, 0).rotateBy(rotateGoal.unaryMinus()));
+				Command command = Commands.sequence(
+						new SpinFlywheelShooter(shooter, IntakeShooterConstants.FLYWHEEL_SHOOTER_SPEED_SPEAKER),
+						Commands.parallel(Commands.sequence(new AutoRotateTo(drivetrain, rotateGoal),
+								new AutoDriveTo(drivetrain,
+										transGoal),
+								new WaitCommand(1.0),
+								new ArmRotateTo(arm, ArmConstants.ARM_SPEAKER_SHOOTING_DEGREES)),
+								new SpinIntakeGrabbers(shooter, IntakeShooterConstants.INTAKE_GRABBER_SPEED_SPEAKER),
+								new WaitCommand(0.3),
+								new SpinFlywheelShooter(shooter, 0.0),
+								new SpinIntakeGrabbers(shooter, 0.0),
+								new ArmRotateTo(arm, ArmConstants.ARM_STOW_2_DEGREES))
+								.onlyIf(() -> vision != null && vision.isEnabled()));
+				command.schedule();
+			}
+		}
+	}
+
+	@Override
+	public boolean isFinished() {
+		return true;
+	}
+}