| 1 | package org.usfirst.frc.team3501.robot.commandgroups; |
| 2 | |
| 3 | import org.usfirst.frc.team3501.robot.Constants; |
| 4 | import org.usfirst.frc.team3501.robot.commands.driving.DriveDistance; |
| 5 | import org.usfirst.frc.team3501.robot.commands.driving.TurnForAngle; |
| 6 | import org.usfirst.frc.team3501.robot.commands.shooter.RunFlyWheelContinuous; |
| 7 | |
| 8 | import edu.wpi.first.wpilibj.command.CommandGroup; |
| 9 | |
| 10 | /** |
| 11 | * |
| 12 | */ |
| 13 | public class AutonHopperShoot extends CommandGroup { |
| 14 | |
| 15 | public AutonHopperShoot() { |
| 16 | |
| 17 | // Robot drives from center to front of airship |
| 18 | addSequential(new DriveDistance(5.0, 1)); |
| 19 | // Robot turns towards hopper |
| 20 | addSequential(new TurnForAngle(45.0, Constants.Direction.RIGHT, 1.0)); |
| 21 | // Robot drives near hopper |
| 22 | addSequential(new DriveDistance(224.569677, 1)); |
| 23 | // Robot turns left towards hopper |
| 24 | addSequential(new TurnForAngle(45.0, Constants.Direction.RIGHT, 1.0)); |
| 25 | // Robot drives in front of hopper |
| 26 | addSequential(new DriveDistance(2.0, 1.0)); |
| 27 | // Robot backs up from switch |
| 28 | addSequential(new DriveDistance(2.0, -1.0)); |
| 29 | // Robot turns towards the boiler |
| 30 | addSequential(new TurnForAngle(90.0, Constants.Direction.RIGHT, 1.0)); |
| 31 | // Robot drives to boiler |
| 32 | addSequential(new DriveDistance(123.3, 1.0)); |
| 33 | // Robot turns parallel to boiler |
| 34 | addSequential(new TurnForAngle(45.0, Constants.Direction.LEFT, 1.0)); |
| 35 | // Shoot |
| 36 | addSequential(new RunFlyWheelContinuous(1.0)); |
| 37 | |
| 38 | } |
| 39 | } |