+++ /dev/null
-{
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--- /dev/null
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+ {"t":8.03558, "x":4.76172, "y":7.47362, "heading":-0.76891, "vx":4.53552, "vy":-0.01838, "omega":-0.00221, "ax":0.00071, "ay":0.28359, "alpha":-0.00001, "fx":[0.01,0.01001,0.01,0.00999], "fy":[4.01978,4.01979,4.0198,4.01979]},
+ {"t":8.08523, "x":4.9869, "y":7.47305, "heading":-0.76902, "vx":4.53555, "vy":-0.0043, "omega":-0.00221, "ax":-0.00006, "ay":0.22012, "alpha":-0.00001, "fx":[-0.00085,-0.00084,-0.00085,-0.00087], "fy":[3.12007,3.12008,3.12009,3.12008]},
+ {"t":8.13488, "x":5.21208, "y":7.47311, "heading":-0.76913, "vx":4.53555, "vy":0.00663, "omega":-0.00221, "ax":-0.00058, "ay":0.21646, "alpha":-0.00001, "fx":[-0.00816,-0.00815,-0.00816,-0.00817], "fy":[3.06822,3.06823,3.06825,3.06823]},
+ {"t":8.18453, "x":5.43727, "y":7.47371, "heading":-0.76924, "vx":4.53552, "vy":0.01737, "omega":-0.00221, "ax":-0.00114, "ay":0.22443, "alpha":-0.00001, "fx":[-0.01613,-0.01612,-0.01613,-0.01614], "fy":[3.18116,3.18118,3.18119,3.18117]},
+ {"t":8.23417, "x":5.66245, "y":7.47484, "heading":-0.76935, "vx":4.53546, "vy":0.02852, "omega":-0.00221, "ax":-0.00183, "ay":0.24053, "alpha":0.0, "fx":[-0.02595,-0.02594,-0.02595,-0.02596], "fy":[3.40951,3.40952,3.40953,3.40952]},
+ {"t":8.28382, "x":5.88763, "y":7.47656, "heading":-0.76946, "vx":4.53537, "vy":0.04046, "omega":-0.00221, "ax":-0.00279, "ay":0.26829, "alpha":0.0, "fx":[-0.03952,-0.03951,-0.03952,-0.03953], "fy":[3.80291,3.80292,3.80293,3.80292]},
+ {"t":8.33347, "x":6.1128, "y":7.4789, "heading":-0.76957, "vx":4.53524, "vy":0.05378, "omega":-0.00221, "ax":-0.00425, "ay":0.31332, "alpha":0.0, "fx":[-0.06028,-0.06027,-0.06028,-0.06029], "fy":[4.44125,4.44126,4.44127,4.44126]},
+ {"t":8.38312, "x":6.33796, "y":7.48195, "heading":-0.76968, "vx":4.53502, "vy":0.06934, "omega":-0.00221, "ax":-0.00696, "ay":0.34809, "alpha":-0.00101, "fx":[-0.09859,-0.09624,-0.09866,-0.10101], "fy":[4.93171,4.93413,4.93647,4.93405]},
+ {"t":8.43277, "x":6.56311, "y":7.48582, "heading":-0.76979, "vx":4.53468, "vy":0.08662, "omega":-0.00226, "ax":-4.74887, "ay":-0.18587, "alpha":-6.35688, "fx":[-67.17179,-55.51714,-68.07128,-78.49646], "fy":[-20.95829,-2.65884,15.75546,-2.677]},
+ {"t":8.48242, "x":6.7824, "y":7.4899, "heading":-0.77774, "vx":4.2989, "vy":0.07739, "omega":-0.31787, "ax":-9.24452, "ay":-0.30874, "alpha":-12.35257, "fx":[-123.53718,-136.05333,-126.69712,-137.86802], "fy":[-60.59218,-7.15568,53.60953,-3.36686]},
+ {"t":8.53207, "x":6.98444, "y":7.49336, "heading":-0.80874, "vx":3.83993, "vy":0.06206, "omega":-0.93116, "ax":-9.74107, "ay":-0.45141, "alpha":-0.68747, "fx":[-137.91224,-138.0695,-138.20656,-138.12114], "fy":[-9.59413,-6.62747,-3.19121,-6.18185]},
+ {"t":8.58171, "x":7.16308, "y":7.49588, "heading":-0.85582, "vx":3.35629, "vy":0.03965, "omega":-0.96529, "ax":-5.24057, "ay":-8.26277, "alpha":0.20832, "fx":[-74.67763,-75.00709,-73.89579,-73.55463], "fy":[-116.87251,-116.66381,-117.37159,-117.58326]},
+ {"t":8.63136, "x":7.32326, "y":7.48767, "heading":-0.90349, "vx":3.09611, "vy":-0.37059, "omega":-0.95495, "ax":-3.65112, "ay":-9.0792, "alpha":-1.23288, "fx":[-50.42761,-46.49899,-53.23115,-56.85707], "fy":[-129.29145,-130.74846,-128.1504,-126.59161]},
+ {"t":8.67594, "x":7.45765, "y":7.46213, "heading":-0.94728, "vx":2.93335, "vy":-0.77532, "omega":-1.00991, "ax":-3.95489, "ay":-8.9527, "alpha":-0.84976, "fx":[-55.17962,-52.49501,-57.01069,-59.5532], "fy":[-127.32313,-128.44775,-126.50464,-125.33383]},
+ {"t":8.72052, "x":7.58448, "y":7.41867, "heading":-0.99315, "vx":2.75705, "vy":-1.17441, "omega":-1.04779, "ax":-4.30014, "ay":-8.79289, "alpha":-0.40623, "fx":[-60.54385,-59.28562,-61.37938,-62.60525], "fy":[-124.84636,-125.44578,-124.43288,-123.82372]},
+ {"t":8.7651, "x":7.70311, "y":7.35758, "heading":-1.04026, "vx":2.56535, "vy":-1.56638, "omega":-1.0659, "ax":-4.69377, "ay":-8.58864, "alpha":0.11076, "fx":[-66.64407,-66.97471,-66.42329,-66.09022], "fy":[-121.68096,-121.5002,-121.80307,-121.98321]},
+ {"t":8.80968, "x":7.81281, "y":7.27922, "heading":-1.08767, "vx":2.35612, "vy":-1.94925, "omega":-1.06096, "ax":-5.14298, "ay":-8.3245, "alpha":0.71662, "fx":[-73.635,-75.64418,-72.218,-70.10489], "fy":[-117.55955,-116.28381,-118.44582,-119.70227]},
+ {"t":8.85425, "x":7.91273, "y":7.18405, "heading":-1.13425, "vx":2.12685, "vy":-2.32034, "omega":-1.02902, "ax":-5.65436, "ay":-7.97923, "alpha":1.42923, "fx":[-81.69981,-85.31579,-78.81317,-74.76793], "fy":[-112.0765,-109.36557,-114.14852,-116.82421]},
+ {"t":8.89883, "x":8.00192, "y":7.07269, "heading":-1.1787, "vx":1.87479, "vy":-2.67604, "omega":-0.9653, "ax":-6.2317, "ay":-7.52389, "alpha":2.26869, "fx":[-91.02375,-95.88055,-86.2077,-80.21933], "fy":[-104.60918,-100.20909,-108.65521,-113.12369]},
+ {"t":8.94341, "x":8.0793, "y":6.94592, "heading":-1.21948, "vx":1.59699, "vy":-3.01144, "omega":-0.86417, "ax":-6.87177, "ay":-6.92051, "alpha":3.25709, "fx":[-101.70523,-106.99018,-94.3144,-86.61301], "fy":[-94.20976,-88.22297,-101.67932,-108.27399]},
+ {"t":8.98799, "x":8.14367, "y":6.8048, "heading":-1.25476, "vx":1.29066, "vy":-3.31994, "omega":-0.71897, "ax":-7.55691, "ay":-6.123, "alpha":4.41987, "fx":[-113.52306,-117.93539,-102.91733,-94.09403], "fy":[-79.50929,-72.91806,-92.94116,-101.79952]},
+ {"t":9.03257, "x":8.19369, "y":6.65072, "heading":-1.28242, "vx":0.95379, "vy":-3.59289, "omega":-0.52195, "ax":-8.24416, "ay":-5.08462, "alpha":5.78733, "fx":[-125.45074,-127.60693,-111.63553,-102.74263], "fy":[-58.82725,-54.21146,-82.2428,-93.01141]},
+ {"t":9.07714, "x":8.22802, "y":6.48551, "heading":-1.29994, "vx":0.58628, "vy":-3.81955, "omega":-0.26396, "ax":-8.85545, "ay":-3.77957, "alpha":7.37184, "fx":[-135.01628,-134.704,-119.92122,-112.45398], "fy":[-30.98471,-32.79592,-69.58487,-80.93235]},
+ {"t":9.12172, "x":8.24536, "y":6.31148, "heading":-1.30438, "vx":0.19153, "vy":-3.98804, "omega":0.06466, "ax":-9.28697, "ay":-2.24117, "alpha":9.06164, "fx":[-138.48271,-138.259,-127.12766,-122.69294], "fy":[2.78287,-10.28271,-55.31026,-64.26212]},
+ {"t":9.1663, "x":8.24467, "y":6.13148, "heading":-1.2925, "vx":-0.22247, "vy":-4.08794, "omega":0.46861, "ax":-9.74806, "ay":-0.70372, "alpha":0.72411, "fx":[-138.36971,-138.32334,-137.97214,-138.04049], "fy":[-7.10626,-8.16261,-12.76715,-11.86437]},
+ {"t":9.21436, "x":8.22272, "y":5.9342, "heading":-1.26914, "vx":-0.69096, "vy":-4.12177, "omega":0.50342, "ax":-9.73628, "ay":-0.08609, "alpha":-3.31714, "fx":[-137.75644,-138.08796,-137.80752,-138.38576], "fy":[-14.09345,-9.30352,13.08507,5.43048]},
+ {"t":9.26242, "x":8.17826, "y":5.73601, "heading":-1.24878, "vx":-1.15888, "vy":-4.1259, "omega":0.34399, "ax":-9.70213, "ay":0.60397, "alpha":-3.51343, "fx":[-138.19191,-138.19729,-136.11531,-137.59687], "fy":[-5.76321,1.42762,24.22715,14.35279]},
+ {"t":9.31048, "x":8.11136, "y":5.53841, "heading":-1.2363, "vx":-1.62517, "vy":-4.09688, "omega":0.17514, "ax":-9.50073, "ay":2.00888, "alpha":-2.85922, "fx":[-137.05827,-135.58063,-131.61456,-134.42911], "fy":[16.07801,25.05446,41.34257,31.42654]},
+ {"t":9.35854, "x":8.02229, "y":5.34384, "heading":-1.23119, "vx":-2.08177, "vy":-4.00033, "omega":0.03773, "ax":-8.57829, "ay":4.50743, "alpha":-0.61396, "fx":[-122.90782,-121.52832,-120.25952,-121.68539], "fy":[61.36045,63.9816,66.40593,63.81919]},
+ {"t":9.4066, "x":7.91233, "y":5.15679, "heading":-1.23008, "vx":-2.49404, "vy":-3.7837, "omega":0.00822, "ax":-7.75523, "ay":5.66341, "alpha":-0.03485, "fx":[-110.02095,-109.90843,-109.83602,-109.9486], "fy":[80.14975,80.29957,80.40503,80.25542]},
+ {"t":9.45466, "x":7.78351, "y":4.98148, "heading":-1.22973, "vx":-2.86676, "vy":-3.51152, "omega":0.00654, "ax":-6.94591, "ay":6.25997, "alpha":-0.00542, "fx":[-98.472,-98.45118,-98.44127,-98.46209], "fy":[88.71599,88.73795,88.75106,88.72911]},
+ {"t":9.50272, "x":7.63771, "y":4.81995, "heading":-1.22942, "vx":-3.20058, "vy":-3.21067, "omega":0.00628, "ax":-5.55096, "ay":6.03548, "alpha":0.00303, "fx":[-78.67576,-78.68813,-78.69117,-78.67881], "fy":[85.55964,85.54987,85.5433,85.55307]},
+ {"t":9.55078, "x":7.47748, "y":4.67262, "heading":-1.22911, "vx":-3.46736, "vy":-2.9206, "omega":0.00643, "ax":-2.00596, "ay":2.46569, "alpha":0.00291, "fx":[-28.43044,-28.44006,-28.4377,-28.42808], "fy":[34.95686,34.95276,34.94419,34.94829]},
+ {"t":9.59884, "x":7.30852, "y":4.5351, "heading":-1.2288, "vx":-3.56376, "vy":-2.8021, "omega":0.00657, "ax":-0.26648, "ay":0.34079, "alpha":0.00054, "fx":[-3.77668,-3.77836,-3.77777,-3.77608], "fy":[4.8318,4.8312,4.82952,4.83012]},
+ {"t":9.6469, "x":7.13694, "y":4.40082, "heading":-1.22848, "vx":-3.57657, "vy":-2.78572, "omega":0.00659, "ax":-0.0728, "ay":0.09368, "alpha":0.00018, "fx":[-1.03167,-1.03224,-1.03204,-1.03147], "fy":[1.32834,1.32814,1.32757,1.32777]},
+ {"t":9.69496, "x":6.96497, "y":4.26705, "heading":-1.22817, "vx":-3.58007, "vy":-2.78122, "omega":0.0066, "ax":-0.34054, "ay":0.4521, "alpha":0.01039, "fx":[-4.8166,-4.84915,-4.83766,-4.8051], "fy":[6.43042,6.41874,6.38632,6.398]},
+ {"t":9.74302, "x":6.79252, "y":4.13391, "heading":-1.22784, "vx":-3.59644, "vy":-2.75949, "omega":0.0071, "ax":3.66188, "ay":5.62605, "alpha":9.5934, "fx":[55.40226,22.68873,50.33818,79.19602], "fy":[92.04478,96.4431,66.73652,63.76735]},
+ {"t":9.79108, "x":6.6239, "y":4.00778, "heading":-1.21642, "vx":-3.42045, "vy":-2.48911, "omega":0.46816, "ax":7.17232, "ay":5.59152, "alpha":13.96011, "fx":[94.0005,57.46244,126.71925,128.4816], "fy":[99.84172,123.37813,46.48192,47.33236]},
+ {"t":9.83914, "x":6.4678, "y":3.89462, "heading":-1.1778, "vx":-3.07575, "vy":-2.22038, "omega":1.13908, "ax":7.45215, "ay":5.30159, "alpha":14.56656, "fx":[96.47832,63.1034,132.30662,130.64124], "fy":[98.68681,122.09316,35.55532,44.26]},
+ {"t":9.8872, "x":6.32859, "y":3.79403, "heading":-1.10623, "vx":-2.7176, "vy":-1.96558, "omega":1.83915, "ax":7.6505, "ay":4.97706, "alpha":15.33405, "fx":[97.49189,68.6478,135.88193,131.7543], "fy":[98.11601,119.5758,22.48751,42.01541]},
+ {"t":9.93526, "x":6.20681, "y":3.70531, "heading":-1.00013, "vx":-2.34991, "vy":-1.72639, "omega":2.5761, "ax":7.98511, "ay":4.79746, "alpha":12.93284, "fx":[100.08908,85.50679,136.29477,130.85776], "fy":[95.66863,108.48807,22.60189,45.25267]},
+ {"t":9.98332, "x":6.1031, "y":3.62788, "heading":-0.86139, "vx":-1.96615, "vy":-1.49582, "omega":3.19765, "ax":7.69782, "ay":5.63998, "alpha":9.10291, "fx":[94.97866,89.24283,129.22495,123.01249], "fy":[100.85398,105.71365,49.47539,63.73852]},
+ {"t":10.03138, "x":6.0175, "y":3.5625, "heading":-0.6972, "vx":-1.59619, "vy":-1.22476, "omega":3.63514, "ax":7.34828, "ay":6.09144, "alpha":9.15836, "fx":[86.59624,85.18616,127.19073,117.66746], "fy":[108.21746,109.11787,54.7729,73.2706]},
+ {"t":10.07944, "x":5.94927, "y":3.51068, "heading":-0.51192, "vx":-1.24304, "vy":-0.93201, "omega":4.07529, "ax":7.4501, "ay":6.11991, "alpha":-7.05458, "fx":[124.67553,113.75509,88.16155,95.82115], "fy":[60.56788,79.3233,107.0232,100.07863]},
+ {"t":10.1275, "x":5.89813, "y":3.47295, "heading":-0.3242, "vx":-0.88499, "vy":-0.63789, "omega":3.73624, "ax":6.76961, "ay":5.87639, "alpha":-16.85463, "fx":[138.18676,114.62873,55.26858,75.74617], "fy":[11.89552,78.21582,127.25196,115.82226]},
+ {"t":10.17556, "x":5.86342, "y":3.44908, "heading":-0.16411, "vx":-0.55964, "vy":-0.35547, "omega":2.92621, "ax":6.22638, "ay":5.78794, "alpha":-20.28081, "fx":[138.57932,110.33877,28.99602,75.11557], "fy":[-7.1946,84.22582,135.71088,115.42839]},
+ {"t":10.22362, "x":5.84371, "y":3.43868, "heading":-0.04689, "vx":-0.2604, "vy":-0.0773, "omega":1.95152, "ax":5.41823, "ay":1.60846, "alpha":-40.60597, "fx":[138.27376,105.51883,9.42024,53.99592], "fy":[-12.11854,90.22442,138.47668,-125.38468]},
+ {"t":10.27168, "x":5.83746, "y":3.43683, "heading":0.0, "vx":0.0, "vy":0.0, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}],
+ "splits":[0,63,146]
+ },
+ "events":[]
+}
private final AutoChooser choreoAutoChooser = new AutoChooser();
// choreo auto factory
- AutoFactory autoFactory ;
+ AutoFactory autoFactory;
/**
* The container for the robot. Contains subsystems, OI devices, and commands.
* <p>
addChoreoAuto("choreoConservativeRight", choreo.rightConservative(autoFactory));
addChoreoAuto("choreoShallowLeft", choreo.leftShallow(autoFactory));
addChoreoAuto("choreoShallowRight", choreo.rightShallow(autoFactory));
+ addChoreoAuto("choreoDepotKoushaRight", choreo.depotKousha(autoFactory, true));
+ addChoreoAuto("choreoDepotKoushaLeft", choreo.depotKousha(autoFactory, false));
+ addChoreoAuto("choreoDoubleLiberalKoushaRight", choreo.doubleLiberalKousha(autoFactory, true));
+ addChoreoAuto("choreoDoubleLiberalKoushaLeft", choreo.doubleLiberalKousha(autoFactory, false));
+ addChoreoAuto("choreoDoubleConservativeKoushaRight", choreo.doubleConservativeKousha(autoFactory, true));
+ addChoreoAuto("choreoDoubleConservativeKoushaLeft", choreo.doubleConservativeKousha(autoFactory, false));
// put the Chooser on the SmartDashboard
SmartDashboard.putData("Auto chooser", autoChooser);
return routine;
}
+
+/**
+ * doubleConservativeKousha
+ * @param factory AutoFactory
+ * @param right boolean True for right auto, false for left
+ * @return AutoRoutine
+ */
+ public AutoRoutine doubleConservativeKousha(AutoFactory factory, boolean right) {
+ AutoRoutine routine = factory.newRoutine(right ? "right" : "left" + "doubleConservativeKousha");
+
+ AutoTrajectory swipe1 = right ? routine.trajectory("doubleConservativeKousha", 0).mirrorY()
+ : routine.trajectory("doubleConservativeKousha", 0);
+ AutoTrajectory swipe2 = right ? routine.trajectory("doubleConservativeKousha", 1).mirrorY()
+ : routine.trajectory("doubleConservativeKousha", 1);
+ AutoTrajectory centerSprint = right ? routine.trajectory("doubleConservativeKousha", 2).mirrorY()
+ : routine.trajectory("doubleConservativeKousha", 2);
+
+ routine.active().onTrue(
+ Commands.sequence(
+ swipe1.resetOdometry(),
+ new InstantCommand(() -> {
+ intake.extend();
+ intake.spinStart();
+ hood.forceHoodDown(true);
+ }),
+ swipe1.cmd()));
+
+ swipe1.done()
+ .onTrue(Commands.sequence(
+ new InstantCommand(() -> {
+ hood.forceHoodDown(false);
+ }),
+ new RunSpindexerWithStop(spindexer, turret, hood, intake).raceWith(new IntakeMovementCommand(intake)),
+ new InstantCommand(() -> {
+ intake.extend();
+ intake.spinStart();
+ hood.forceHoodDown(true);
+ }),
+ swipe2.cmd()));
+
+ swipe2.done()
+ .onTrue(Commands.sequence(
+ new InstantCommand(() -> {
+ hood.forceHoodDown(false);
+ }),
+ new RunSpindexerWithStop(spindexer, turret, hood, intake).raceWith(new IntakeMovementCommand(intake)),
+ new InstantCommand(() -> {
+ intake.extend();
+ intake.spinStart();
+ hood.forceHoodDown(true);
+ }),
+ centerSprint.cmd()));
+
+ return routine;
+
+ }
+
+/**
+ * depotKousha
+ * @param factory AutoFactory
+ * @param right boolean True for right auto, false for left
+ * @return AutoRoutine
+ */
+ public AutoRoutine depotKousha(AutoFactory factory, boolean right) {
+ AutoRoutine routine = factory.newRoutine(right ? "right" : "left" + "depotKousha");
+
+ AutoTrajectory getDepot = right ? routine.trajectory("depotKousha", 0).mirrorY()
+ : routine.trajectory("depotKousha", 0);
+ AutoTrajectory shootToTrench = right ? routine.trajectory("depotKousha", 1).mirrorY()
+ : routine.trajectory("depotKousha", 1);
+ AutoTrajectory centerSprint = right ? routine.trajectory("depotKousha", 2).mirrorY()
+ : routine.trajectory("depotKousha", 2);
+
+ routine.active().onTrue(
+ Commands.sequence(
+ getDepot.resetOdometry(),
+ new InstantCommand(() -> {
+ intake.extend();
+ intake.spinStart();
+ hood.forceHoodDown(true);
+ }),
+ getDepot.cmd()));
+
+ getDepot.done()
+ .onTrue(Commands.sequence(
+ new InstantCommand(() -> {
+ hood.forceHoodDown(false);
+ }),
+ Commands.race(
+ new RunSpindexer(spindexer, turret, hood, intake),
+ new IntakeMovementCommand(intake),
+ shootToTrench.cmd())));
+
+ shootToTrench.done()
+ .onTrue(Commands.parallel(
+ new InstantCommand(() -> {
+ intake.extend();
+ intake.spinStart();
+ hood.forceHoodDown(true);
+ }),
+ centerSprint.cmd()));
+
+ return routine;
+
+ }
+
+/**
+ * doubleLiberalKousha
+ * @param factory AutoFactory
+ * @param right boolean True for right auto, false for left
+ * @return AutoRoutine
+ */
+ public AutoRoutine doubleLiberalKousha(AutoFactory factory, boolean right) {
+ AutoRoutine routine = factory.newRoutine(right ? "right" : "left" + "doubleLiberalKousha");
+
+ AutoTrajectory swipe1 = right ? routine.trajectory("doubleLiberalKousha", 0).mirrorY()
+ : routine.trajectory("doubleLiberalKousha", 0);
+ AutoTrajectory swipe2 = right ? routine.trajectory("doubleLiberalKousha", 1).mirrorY()
+ : routine.trajectory("doubleLiberalKousha", 1);
+ AutoTrajectory centerSprint = right ? routine.trajectory("doubleLiberalKousha", 2).mirrorY()
+ : routine.trajectory("doubleLiberalKousha", 2);
+
+ routine.active().onTrue(
+ Commands.sequence(
+ swipe1.resetOdometry(),
+ new InstantCommand(() -> {
+ intake.extend();
+ intake.spinStart();
+ hood.forceHoodDown(true);
+ }),
+ swipe1.cmd()));
+
+ swipe1.done()
+ .onTrue(Commands.sequence(
+ new InstantCommand(() -> {
+ hood.forceHoodDown(false);
+ }),
+ new RunSpindexerWithStop(spindexer, turret, hood, intake).raceWith(new IntakeMovementCommand(intake)),
+ new InstantCommand(() -> {
+ intake.extend();
+ intake.spinStart();
+ hood.forceHoodDown(true);
+ }),
+ swipe2.cmd()));
+
+ swipe2.done()
+ .onTrue(Commands.sequence(
+ new InstantCommand(() -> {
+ hood.forceHoodDown(false);
+ }),
+ new RunSpindexerWithStop(spindexer, turret, hood, intake).raceWith(new IntakeMovementCommand(intake)),
+ new InstantCommand(() -> {
+ intake.extend();
+ intake.spinStart();
+ hood.forceHoodDown(true);
+ }),
+ centerSprint.cmd()));
+
+ return routine;
+
+ }
+
}