1 package org
.usfirst
.frc
.team3501
.robot
.commands
;
3 import edu
.wpi
.first
.wpilibj
.command
.CommandGroup
;
6 * This command will drive the robot through the moat.
8 * The code drives the robot for a specific time at a specific speed up the ramp
9 * to the defense then drive over the defense at a different speed and time.
11 * dependency on subsystem: drivetrain
13 * dependency on other commands: DriveForTime
15 * pre-condition: robot is flush against the ramp of the outerworks in front of
18 * post-condition: the robot has passed the moat and is in the next zone
20 * @author Meryem and Avi
24 public class PassMoat
extends CommandGroup
{
26 private final double BEG_TIME
= 0;
27 private final double MID_TIME
= 0;
28 private final double END_TIME
= 0;
29 private final double BEG_SPEED
= 0;
30 private final double MID_SPEED
= 0;
31 private final double END_SPEED
= 0;
34 addSequential(new DriveForTime(BEG_TIME
, BEG_SPEED
));
35 addSequential(new DriveForTime(MID_TIME
, MID_SPEED
));
36 addSequential(new DriveForTime(END_TIME
, END_SPEED
));