package org.usfirst.frc.team3501.robot.commands.auton;
-import org.usfirst.frc.team3501.robot.Constants;
-import org.usfirst.frc.team3501.robot.commands.driving.DriveDistance;
-import org.usfirst.frc.team3501.robot.commands.driving.DriveForTime;
+import org.usfirst.frc.team3501.robot.Constants.IntakeArm;
+import org.usfirst.frc.team3501.robot.commands.driving.TimeDrive;
+import org.usfirst.frc.team3501.robot.commands.intakearm.MoveIntakeArm;
import edu.wpi.first.wpilibj.command.CommandGroup;
-/***
- * This command will drive the robot through the low bar.
- *
- * dependency on sensors: encoders
- * dependency on subsystems: drivetrain
- * dependency on other commands: DriveForDist
- *
- * pre-condition: robot is flush against the ramp of the outerworks in front of
- * the low bar
- *
- * post-condition: the robot has passed the low bar and is in the next zone
- *
- * @author Meryem and Avi
+/**
*
*/
-
public class PassLowBar extends CommandGroup {
public PassLowBar() {
- if (Constants.Auton.IS_USING_TIME) {
- addSequential(new DriveForTime(Constants.Auton.PASS_LOW_BAR_TIME,
- Constants.Auton.PASS_LOW_BAR_SPEED));
- }
- else {
- addSequential(new DriveDistance(
- Constants.Auton.PASS_LOW_BAR_DIST,
- Constants.DriveTrain.PASS_DEFENSE_TIMEOUT));
- }
+ addSequential(new TimeDrive(.3, 1));
+ addSequential(new MoveIntakeArm(IntakeArm.EXTEND));
+ addSequential(new TimeDrive(.5, 3));
}
}