refactor RunIntake to be RunIntakeContinous (because its used only with joysticks

[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 54e4d94fc43faa600b93655f86b15b822cdb303f..7fca1ff75e2533726300bd551296ac88883ae2db 100755 (executable)
--- a/src/org/usfirst/frc/team3501/robot/commands/shooter/ShootAtHighGoal.java
+++ b/src/org/usfirst/frc/team3501/robot/commands/shooter/ShootAtHighGoal.java
@@ -1,35 +1,46 @@
 package org.usfirst.frc.team3501.robot.commands.shooter;
 
 import org.usfirst.frc.team3501.robot.Constants.IntakeArm;
-import org.usfirst.frc.team3501.robot.Robot;
 import org.usfirst.frc.team3501.robot.commands.intakearm.MoveIntakeArm;
 
 import edu.wpi.first.wpilibj.command.CommandGroup;
+import edu.wpi.first.wpilibj.command.WaitCommand;
 
 /**
  * This command group performs the sequence of steps to shoot at the high goal
  *
- * pre-conditions: a ball is in the intake, and the intake is in the up position
+ * pre-conditions: a ball is in the intake
  *
  * post-conditions: catapult is retracted, intake is extended
  */
 public class ShootAtHighGoal extends CommandGroup {
+  private static final double WAIT_SECONDS = 1.0;
 
   public ShootAtHighGoal() {
-    // (if photogate) check if ball is in intake
 
-    // make sure intake is in up position and change accordingly
-    if (!Robot.intakeArm.isExtended())
-      addSequential(new MoveIntakeArm(IntakeArm.RETRACT));
+    // make sure intake is in up position
+    addSequential(new MoveIntakeArm(IntakeArm.RETRACT));
+
+    addSequential(new WaitCommand(WAIT_SECONDS));
+
+    // get ball onto catapult
 
     // shoot catapult pistons
     addSequential(new FireCatapult());
 
+    addSequential(new WaitCommand(WAIT_SECONDS));
+
     // extend intake (ball actually shoots here)
     addSequential(new MoveIntakeArm(IntakeArm.EXTEND));
 
+    addSequential(new WaitCommand(WAIT_SECONDS));
+
+    // wait a bit
+    addSequential(new WaitCommand(WAIT_SECONDS));
+
     // retract catapult pistons
     addSequential(new ResetCatapult());
 
+    //
   }
 }