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.commands.shooter.RunFlyWheel;
+import org.usfirst.frc.team3501.robot.commands.shooter.RunFlyWheelContinuous;
 
 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
-    addSequential(new DriveDistance(92.3, 1));
+    addSequential(new DriveDistance(5.0, 1));
     // 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
-    addSequential(new DriveDistance());
+    addSequential(new DriveDistance(224.569677, 1));
     // Robot turns left towards hopper
-    addSequential(new TurnForAngle(90));
+    addSequential(new TurnForAngle(45.0, Constants.Direction.RIGHT, 1.0));
     // 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
-    addSequential(new DriveDistance());
+    addSequential(new DriveDistance(2.0, -1.0));
     // Robot turns towards the boiler
-    addSequential(new TurnForAngle(90));
+    addSequential(new TurnForAngle(90.0, Constants.Direction.RIGHT, 1.0));
     // Robot drives to boiler
-    addSequential(new DriveDistance());
+    addSequential(new DriveDistance(123.3, 1.0));
     // Robot turns parallel to boiler
-    addSequential(new TurnForAngle(45));
+    addSequential(new TurnForAngle(45.0, Constants.Direction.LEFT, 1.0));
     // Shoot
-    addSequential(new RunFlyWheel());
+    addSequential(new RunFlyWheelContinuous(1.0));
 
   }
 }