challenge-bot.com Git - 3501/2017steamworks/blob - src/org/usfirst/frc/team3501/robot/commandgroups/BaselineWallAlign.java

   1 package org.usfirst.frc.team3501.robot.commandgroups;
   2
   3 import org.usfirst.frc.team3501.robot.Constants.Direction;
   4 import org.usfirst.frc.team3501.robot.commands.driving.DriveDistance;
   5 import org.usfirst.frc.team3501.robot.commands.driving.TurnForAngle;
   6
   7 import edu.wpi.first.wpilibj.command.CommandGroup;
   8
   9 /**
  10  *
  11  */
  12 public class BaselineWallAlign extends CommandGroup {
  13   private static final String TEAM = "RED"; // set to either RED or BLUE team
  14
  15   public BaselineWallAlign() {
  16     addSequential(new DriveDistance(10, -0));
  17
  18     if (TEAM.equals("RED")) {
  19       addSequential(new TurnForAngle(115.91, Direction.RIGHT, 0));
  20       addSequential(new DriveDistance(126.35, 0));
  21       addSequential(new TurnForAngle(90, Direction.LEFT, 0));
  22     } else {
  23       addSequential(new TurnForAngle(115.91, Direction.LEFT, 0));
  24       addSequential(new DriveDistance(117.15, 0));
  25       addSequential(new TurnForAngle(90, Direction.RIGHT, 0));
  26     }
  27     addSequential(new PrepareToShoot());
  28
  29   }
  30 }