package org.usfirst.frc.team3501.robot.commands.shooter;
-
-import edu.wpi.first.wpilibj.command.Command;
-
-public class Shoot extends Command {
-
- public Shoot() {
- }
-
- @Override
- protected void initialize() {
- }
-
- @Override
- protected void execute() {
- }
-
- @Override
- protected boolean isFinished() {
- return false;
- }
-
- @Override
- protected void end() {
- }
-
- @Override
- protected void interrupted() {
- }
+import org.usfirst.frc.team3501.robot.Robot;
+import org.usfirst.frc.team3501.robot.commands.auton.AimAndAlign;
+
+import edu.wpi.first.wpilibj.command.CommandGroup;
+import edu.wpi.first.wpilibj.command.WaitCommand;
+
+public class Shoot extends CommandGroup {
+
+ public boolean usePhotogate;
+
+ public Shoot() {
+ addSequential(new AimAndAlign());
+ addSequential(new WaitCommand(3.0));
+ addSequential(new runShooter());
+ addSequential(new WaitCommand(3.0));
+ if (Robot.shooter.usePhotogate()) {
+ if (Robot.shooter.isBallInside()) {
+ addSequential(new ExtendPunch());
+ addSequential(new WaitCommand(5.0));
+ addSequential(new RetractPunch());
+ }
+ } else {
+ addSequential(new ExtendPunch());
+ addSequential(new WaitCommand(5.0));
+ addSequential(new RetractPunch());
+ }
+
+ }
}