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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 ebad9095023b5964993d1e5f196ffaa9fba0733f..94dfb9eb2a3d49afa0c6c4ec22236a5365fd2d0f 100644
(file)
--- a/
src/org/usfirst/frc/team3501/robot/commandgroups/AutonHopperShoot.java
+++ b/
src/org/usfirst/frc/team3501/robot/commandgroups/AutonHopperShoot.java
@@
-3,7
+3,7
@@
package org.usfirst.frc.team3501.robot.commandgroups;
import org.usfirst.frc.team3501.robot.Constants;
import org.usfirst.frc.team3501.robot.commands.driving.DriveDistance;
import org.usfirst.frc.team3501.robot.commands.driving.TurnForAngle;
import org.usfirst.frc.team3501.robot.Constants;
import org.usfirst.frc.team3501.robot.commands.driving.DriveDistance;
import org.usfirst.frc.team3501.robot.commands.driving.TurnForAngle;
-import org.usfirst.frc.team3501.robot.commands.shooter.RunFlyWheel;
+import org.usfirst.frc.team3501.robot.commands.shooter.RunFlyWheel
Continuous
;
import edu.wpi.first.wpilibj.command.CommandGroup;
import edu.wpi.first.wpilibj.command.CommandGroup;
@@
-15,29
+15,25
@@
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());
+ addSequential(new DriveDistance(
224.569677, 1
));
// Robot turns left towards hopper
// Robot turns left towards hopper
- addSequential(new TurnForAngle(
9
0));
+ addSequential(new TurnForAngle(
45.0, Constants.Direction.RIGHT, 1.
0));
// Robot drives in front of hopper
// Robot drives in front of hopper
- addSequential(new DriveDistance());
- // Robot turns to face hopper
- addSequential(new TurnForAngle(90));
- // Robot hits hopper switch
- addSequential(new DriveDistance());
+ addSequential(new DriveDistance(2.0, 1.0));
// Robot backs up from switch
// Robot backs up from switch
- addSequential(new DriveDistance());
+ addSequential(new DriveDistance(
2.0, -1.0
));
// Robot turns towards the boiler
// Robot turns towards the boiler
- addSequential(new TurnForAngle(90));
+ addSequential(new TurnForAngle(90
.0, Constants.Direction.RIGHT, 1.0
));
// Robot drives to boiler
// Robot drives to boiler
- addSequential(new DriveDistance());
+ addSequential(new DriveDistance(
123.3, 1.0
));
// Robot turns parallel to boiler
// Robot turns parallel to boiler
- addSequential(new TurnForAngle(45));
+ addSequential(new TurnForAngle(45
.0, Constants.Direction.LEFT, 1.0
));
// Shoot
// Shoot
- addSequential(new RunFlyWheel
(
));
+ addSequential(new RunFlyWheel
Continuous(1.0
));
}
}
}
}