X-Git-Url: http://challenge-bot.com/repos/?a=blobdiff_plain;f=src%2Forg%2Fusfirst%2Ffrc%2Fteam3501%2Frobot%2Fcommandgroups%2FAutonHopperShoot.java;fp=src%2Forg%2Fusfirst%2Ffrc%2Fteam3501%2Frobot%2Fcommandgroups%2FAutonHopperShoot.java;h=ebad9095023b5964993d1e5f196ffaa9fba0733f;hb=aa770db66b0d4fd330a8781602d10aea434d104d;hp=0000000000000000000000000000000000000000;hpb=f625e57a09b295f7d40e4568a8e3a8cd125630aa;p=3501%2F2017steamworks

diff --git a/src/org/usfirst/frc/team3501/robot/commandgroups/AutonHopperShoot.java b/src/org/usfirst/frc/team3501/robot/commandgroups/AutonHopperShoot.java
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index 0000000..ebad909
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+++ b/src/org/usfirst/frc/team3501/robot/commandgroups/AutonHopperShoot.java
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+package org.usfirst.frc.team3501.robot.commandgroups;
+
+import org.usfirst.frc.team3501.robot.Constants;
+import org.usfirst.frc.team3501.robot.commands.driving.DriveDistance;
+import org.usfirst.frc.team3501.robot.commands.driving.TurnForAngle;
+import org.usfirst.frc.team3501.robot.commands.shooter.RunFlyWheel;
+
+import edu.wpi.first.wpilibj.command.CommandGroup;
+
+/**
+ *
+ */
+public class AutonHopperShoot extends CommandGroup {
+
+  public AutonHopperShoot() {
+
+    // Robot drives from center to front of airship
+    addSequential(new DriveDistance(92.3, 1));
+    // Robot turns towards hopper
+    addSequential(new TurnForAngle(90.0, Constants.Direction.RIGHT, 1.0));
+    // Robot drives near hopper
+    addSequential(new DriveDistance());
+    // Robot turns left towards hopper
+    addSequential(new TurnForAngle(90));
+    // Robot drives in front of hopper
+    addSequential(new DriveDistance());
+    // Robot turns to face hopper
+    addSequential(new TurnForAngle(90));
+    // Robot hits hopper switch
+    addSequential(new DriveDistance());
+    // Robot backs up from switch
+    addSequential(new DriveDistance());
+    // Robot turns towards the boiler
+    addSequential(new TurnForAngle(90));
+    // Robot drives to boiler
+    addSequential(new DriveDistance());
+    // Robot turns parallel to boiler
+    addSequential(new TurnForAngle(45));
+    // Shoot
+    addSequential(new RunFlyWheel());
+
+  }
+}