X-Git-Url: http://challenge-bot.com/repos/?a=blobdiff_plain;f=src%2Forg%2Fusfirst%2Ffrc%2Fteam3501%2Frobot%2Fcommandgroups%2FAutonHopperShoot.java;h=18b590548b6b7eb94b2121f3a234fc47435f2f65;hb=47ff9a73b1f61c90a862c38544c25025948efec6;hp=2083548128fed923cdb270307c12d71c53bc8ff3;hpb=f2fe3ff51d50129d53fe6589945486730d4349bd;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
index 2083548..18b5905 100644
--- a/src/org/usfirst/frc/team3501/robot/commandgroups/AutonHopperShoot.java
+++ b/src/org/usfirst/frc/team3501/robot/commandgroups/AutonHopperShoot.java
@@ -14,17 +14,18 @@ import edu.wpi.first.wpilibj.command.CommandGroup;
 public class AutonHopperShoot extends CommandGroup {
 
   private static final double DISTANCE_TO_HOPPER = 224.569677;
+  private static final double DISTANCE_TO_TURNING_POSITION = 5.0;
 
   public AutonHopperShoot() {
     // Robot drives from center to front of airship
-    addSequential(new DriveDistance(5.0, 1));
+    addSequential(new DriveDistance(DISTANCE_TO_TURNING_POSITION, 0.75));
     // Robot turns towards hopper
     addSequential(new TurnForAngle(45.0, Constants.Direction.RIGHT, 1.0));
     // Robot drives near hopper
     addSequential(new DriveDistance(DISTANCE_TO_HOPPER, 1));
-    // Robot turns left towards hopper
+    // Robot turns right towards hopper
     addSequential(new TurnForAngle(45.0, Constants.Direction.RIGHT, 1.0));
-    // Robot drives in front of hopper
+    // Robot drives into hopper switch
     addSequential(new DriveDistance(2.0, 1.0));
     // Robot backs up from switch
     addSequential(new DriveDistance(2.0, -1.0));
@@ -35,7 +36,7 @@ public class AutonHopperShoot extends CommandGroup {
     // Robot turns parallel to boiler
     addSequential(new TurnForAngle(45.0, Constants.Direction.LEFT, 1.0));
     // Shoot
-    addSequential(new RunFlyWheelContinuous(1.0));
+    addSequential(new RunFlyWheelContinuous());
 
   }
 }