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add code that puts ball onto catapult
[3501/stronghold-2016]
/
src
/
org
/
usfirst
/
frc
/
team3501
/
robot
/
commands
/
shooter
/
ShootAtHighGoal.java
diff --git
a/src/org/usfirst/frc/team3501/robot/commands/shooter/ShootAtHighGoal.java
b/src/org/usfirst/frc/team3501/robot/commands/shooter/ShootAtHighGoal.java
index 7fca1ff75e2533726300bd551296ac88883ae2db..1f21e2fb84d1cfccb5cc09869505a83a8844e2c7 100755
(executable)
--- a/
src/org/usfirst/frc/team3501/robot/commands/shooter/ShootAtHighGoal.java
+++ b/
src/org/usfirst/frc/team3501/robot/commands/shooter/ShootAtHighGoal.java
@@
-1,7
+1,9
@@
package org.usfirst.frc.team3501.robot.commands.shooter;
import org.usfirst.frc.team3501.robot.Constants.IntakeArm;
package org.usfirst.frc.team3501.robot.commands.shooter;
import org.usfirst.frc.team3501.robot.Constants.IntakeArm;
+import org.usfirst.frc.team3501.robot.Constants.Shooter;
import org.usfirst.frc.team3501.robot.commands.intakearm.MoveIntakeArm;
import org.usfirst.frc.team3501.robot.commands.intakearm.MoveIntakeArm;
+import org.usfirst.frc.team3501.robot.commands.intakearm.TimeRunIntake;
import edu.wpi.first.wpilibj.command.CommandGroup;
import edu.wpi.first.wpilibj.command.WaitCommand;
import edu.wpi.first.wpilibj.command.CommandGroup;
import edu.wpi.first.wpilibj.command.WaitCommand;
@@
-14,6
+16,7
@@
import edu.wpi.first.wpilibj.command.WaitCommand;
* post-conditions: catapult is retracted, intake is extended
*/
public class ShootAtHighGoal extends CommandGroup {
* post-conditions: catapult is retracted, intake is extended
*/
public class ShootAtHighGoal extends CommandGroup {
+ // TODO: test for this
private static final double WAIT_SECONDS = 1.0;
public ShootAtHighGoal() {
private static final double WAIT_SECONDS = 1.0;
public ShootAtHighGoal() {
@@
-24,6
+27,9
@@
public class ShootAtHighGoal extends CommandGroup {
addSequential(new WaitCommand(WAIT_SECONDS));
// get ball onto catapult
addSequential(new WaitCommand(WAIT_SECONDS));
// get ball onto catapult
+ addSequential(new TimeRunIntake(Shooter.TIME_FOR_BALL_TO_CATAPULT_ROLLING));
+
+ addSequential(new WaitCommand(WAIT_SECONDS));
// shoot catapult pistons
addSequential(new FireCatapult());
// shoot catapult pistons
addSequential(new FireCatapult());
@@
-35,9
+41,6
@@
public class ShootAtHighGoal extends CommandGroup {
addSequential(new WaitCommand(WAIT_SECONDS));
addSequential(new WaitCommand(WAIT_SECONDS));
- // wait a bit
- addSequential(new WaitCommand(WAIT_SECONDS));
-
// retract catapult pistons
addSequential(new ResetCatapult());
// retract catapult pistons
addSequential(new ResetCatapult());