delete DeployIntakeArm and delete TODO comment

[3501/stronghold-2016] / src / org / usfirst / frc / team3501 / robot / commands / DefaultAutonStrategy.java

diff --git a/src/org/usfirst/frc/team3501/robot/commands/DefaultAutonStrategy.java b/src/org/usfirst/frc/team3501/robot/commands/DefaultAutonStrategy.java
index 7a75192e960d75a8a5b8e6f5039e65f6c68ebe5f..99fe317d3945d2ab85ebf689d2f561d458a8c940 100755 (executable)
--- a/src/org/usfirst/frc/team3501/robot/commands/DefaultAutonStrategy.java
+++ b/src/org/usfirst/frc/team3501/robot/commands/DefaultAutonStrategy.java
@@ -8,87 +8,11 @@ import edu.wpi.first.wpilibj.command.CommandGroup;
  * The default autonomous strategy involves passing the defense that is in front
  * of it, aiming the robot/ shooter towards the goal, and shooting.
  */
-public class DefaultAutonStrategy extends CommandGroup {
 
-  // in feet
-  // distance along a platform
-  final double DIST_BETWEEN_OUTER_WORKS__AND_COURTYARD = 4.0;
-  // number from -1 to 1
-  final double SPEED_FOR_PASSING_DEFENSE = 0.5;
+public class DefaultAutonStrategy extends CommandGroup {
 
   public DefaultAutonStrategy(int position, Defense defense) {
 
-    // TODO: any variable that is not declared/instantiated are variables that
-    // need
-    // to be tested for their value
-
-    /*
-     * Portcullis: Robot is in front of the portcullis in whatever position 1-5.
-     * addSequential(new LiftPortcullis()); lifting the portcullis.
-     * addSequential(new DriveForDistance(distance, speed)); drive through the
-     * portcullis however neccesary. change direction to drive towards the
-     * designated shooting spot, go to that spot. shoot
-     */
-
-    /*
-     * Sally Port: Robot is in front of the sally port in whatever position 1-5.
-     * Do whatever is needed in order to cross sally port. addSequential(new
-     * DriveForDistance(distance, speed));//drive through the sally port. change
-     * direction to drive towards the designated shooting spot, go to that spot.
-     * shoot
-     */
-
-    /*
-     * Rough Terrain: Robot is in front of the sally port in whatever postion
-     * 1-5. Do whatever adaptive technique is required to pass rough terrain
-     * addSequential(new DriveForDistance(distance, speed)); go through the
-     * rough terrain change direction to drive towards the designated shooting
-     * spot, go to that spot. shoot
-     */
-
-    /*
-     * Low Bar: Robot is in front of low bar in whatever position 1-5.
-     * addSequential(new DriveForDistance(distance, speed));//drive through the
-     * low bar change direction to drive towards the designated shooting spot,
-     * go to that spot. shoot
-     */
-
-    /*
-     * Cheval de Frise: Robot is in front of cheval de frise in whatever
-     * position 1-5. do whatever to make all pieces facing down toward robot
-     * addSequential(new DriveForDistance(distance, speed));//drive to pass
-     * cheval de frise change direction to drive towards the designated shooting
-     * spot, go to that spot. shoot
-     */
-
-    /*
-     * Drawbridge: Robot is in front of drawbridge in whatever position 1-5.
-     * lift the drawbridge in whatever way it is to be lifted. addSequential(new
-     * DriveForDistance(distance, speed));//pass the drawbridge change direction
-     * to drive towards the designated shooting spot, go to that spot. shoot
-     */
-
-    /*
-     * Moat: Robot is in front of moat in whatever position 1-5. do whatever is
-     * adaptable to cross the moat. addSequential(new DriveForDistance(distance,
-     * speed));//cross the moat change direction to drive towards the designated
-     * shooting spot, go to that spot. shoot
-     */
-
-    /*
-     * Rockwall: Robot is in front of moat in whatever position 1-5. do whatever
-     * function is neccesary to cross the rock wall. addSequential(new
-     * DriveForDistance(distance, speed));//cross the rockwall change direction
-     * to drive towards the designated shooting spot, go to that spot. shoot
-     */
-
-    /*
-     * Rampart: Robot is in front of moat in whatever position 1-5. do whatever
-     * function is neccesary to cross the rockwall addSequential(new
-     * DriveForDistance(distance, speed));//cross the rockwall change direction
-     * to drive towards the designated shooting spot, go to that spot. shoot
-     */
-
     switch (defense) {
 
     case PORTCULLIS:
@@ -97,54 +21,42 @@ public class DefaultAutonStrategy extends CommandGroup {
 
     case SALLY_PORT:
 
-      addSequential(
-          new DriveForDistance(DIST_BETWEEN_OUTER_WORKS__AND_COURTYARD + 2,
-              DIST_BETWEEN_OUTER_WORKS__AND_COURTYARD + 2));
+      addSequential(new PassSallyPort());
 
     case ROUGH_TERRAIN:
 
-      addSequential(
-          new DriveForDistance(DIST_BETWEEN_OUTER_WORKS__AND_COURTYARD + 2,
-              DIST_BETWEEN_OUTER_WORKS__AND_COURTYARD + 2));
+      addSequential(new PassRoughTerrain());
 
     case LOW_BAR:
 
-      addSequential(
-          new DriveForDistance(DIST_BETWEEN_OUTER_WORKS__AND_COURTYARD + 2,
-              SPEED_FOR_PASSING_DEFENSE));
+      addSequential(new PassLowBar());
 
     case CHEVAL_DE_FRISE:
 
-      addSequential(new LowerChevalDeFrise());
+      addSequential(new PassChevalDeFrise());
 
     case DRAWBRIDGE:
 
-      addSequential(new LowerDrawBridge());
+      addSequential(new PassDrawBridge());
 
     case MOAT:
 
-      addSequential(new DriveForDistance(
-          DIST_BETWEEN_OUTER_WORKS__AND_COURTYARD, SPEED_FOR_PASSING_DEFENSE));
+      addSequential(new PassMoat());
 
     case ROCK_WALL:
 
-      addSequential(new DriveForDistance(
-          DIST_BETWEEN_OUTER_WORKS__AND_COURTYARD, SPEED_FOR_PASSING_DEFENSE));
+      addSequential(new PassRockWall());
 
     case RAMPART:
 
-      addSequential(new DriveForDistance(
-          DIST_BETWEEN_OUTER_WORKS__AND_COURTYARD, SPEED_FOR_PASSING_DEFENSE));
+      addSequential(new PassRampart());
 
     default:
       break;
     }
 
-    // aim towards goal
-
-    // shoot
-
-    //
+    addSequential(new AimAndAlign());
+    addSequential(new Shoot());
 
   }