fix wait commands

[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 70817273d28a4fedf5bd3c17312b364a007a06ee..bb61604127cc4fa6393dcc61f060f150c03dc4de 100755 (executable)
--- a/src/org/usfirst/frc/team3501/robot/commands/shooter/ShootAtHighGoal.java
+++ b/src/org/usfirst/frc/team3501/robot/commands/shooter/ShootAtHighGoal.java
@@ -2,6 +2,7 @@ package org.usfirst.frc.team3501.robot.commands.shooter;
 
 import org.usfirst.frc.team3501.robot.Constants.IntakeArm;
 import org.usfirst.frc.team3501.robot.commands.intakearm.MoveIntakeArm;
+import org.usfirst.frc.team3501.robot.commands.intakearm.TimeRunIntake;
 
 import edu.wpi.first.wpilibj.command.CommandGroup;
 import edu.wpi.first.wpilibj.command.WaitCommand;
@@ -14,25 +15,32 @@ import edu.wpi.first.wpilibj.command.WaitCommand;
  * post-conditions: catapult is retracted, intake is extended
  */
 public class ShootAtHighGoal extends CommandGroup {
+  private static final double WAIT_SECONDS = 0.4;
+  private static final double TIME_FOR_BALL_TO_CATAPULT_ROLLING = 1.0;
 
   public ShootAtHighGoal() {
-    // make sure catapult is down
-    addSequential(new ResetCatapult());
 
     // make sure intake is in up position
     addSequential(new MoveIntakeArm(IntakeArm.RETRACT));
 
+    addSequential(new WaitCommand(WAIT_SECONDS));
+
+    // get ball onto catapult
+    addSequential(new TimeRunIntake(TIME_FOR_BALL_TO_CATAPULT_ROLLING));
+
     // shoot catapult pistons
     addSequential(new FireCatapult());
 
+    addSequential(new WaitCommand(WAIT_SECONDS));
+
     // extend intake (ball actually shoots here)
     addSequential(new MoveIntakeArm(IntakeArm.EXTEND));
 
-    // wait a bit
-    addSequential(new WaitCommand(1.0));
+    addSequential(new WaitCommand(WAIT_SECONDS));
 
     // retract catapult pistons
     addSequential(new ResetCatapult());
 
+    //
   }
 }