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Remove two steps from AutonHopperShooter and decrease time it takes to execute commands
[3501/2017steamworks]
/
src
/
org
/
usfirst
/
frc
/
team3501
/
robot
/
commandgroups
/
AutonHopperShoot.java
diff --git
a/src/org/usfirst/frc/team3501/robot/commandgroups/AutonHopperShoot.java
b/src/org/usfirst/frc/team3501/robot/commandgroups/AutonHopperShoot.java
index 28c34132de49ad7d63679ee5d2e2962904e701a0..94dfb9eb2a3d49afa0c6c4ec22236a5365fd2d0f 100644
(file)
--- a/
src/org/usfirst/frc/team3501/robot/commandgroups/AutonHopperShoot.java
+++ b/
src/org/usfirst/frc/team3501/robot/commandgroups/AutonHopperShoot.java
@@
-15,18
+15,14
@@
public class AutonHopperShoot extends CommandGroup {
public AutonHopperShoot() {
// Robot drives from center to front of airship
public AutonHopperShoot() {
// Robot drives from center to front of airship
- addSequential(new DriveDistance(
92.3
, 1));
+ addSequential(new DriveDistance(
5.0
, 1));
// Robot turns towards hopper
// Robot turns towards hopper
- addSequential(new TurnForAngle(
90
.0, Constants.Direction.RIGHT, 1.0));
+ addSequential(new TurnForAngle(
45
.0, Constants.Direction.RIGHT, 1.0));
// Robot drives near hopper
// Robot drives near hopper
- addSequential(new DriveDistance(
191.5
, 1));
+ addSequential(new DriveDistance(
224.569677
, 1));
// Robot turns left towards hopper
// Robot turns left towards hopper
- addSequential(new TurnForAngle(
90.0, Constants.Direction.LEF
T, 1.0));
+ addSequential(new TurnForAngle(
45.0, Constants.Direction.RIGH
T, 1.0));
// Robot drives in front of hopper
// Robot drives in front of hopper
- addSequential(new DriveDistance(30.0, 1.0));
- // Robot turns to face hopper
- addSequential(new TurnForAngle(90.0, Constants.Direction.RIGHT, 1.0));
- // Robot hits hopper switch
addSequential(new DriveDistance(2.0, 1.0));
// Robot backs up from switch
addSequential(new DriveDistance(2.0, -1.0));
addSequential(new DriveDistance(2.0, 1.0));
// Robot backs up from switch
addSequential(new DriveDistance(2.0, -1.0));