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=ebad9095023b5964993d1e5f196ffaa9fba0733f;hpb=aa770db66b0d4fd330a8781602d10aea434d104d;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 ebad909..18b5905 100644
--- a/src/org/usfirst/frc/team3501/robot/commandgroups/AutonHopperShoot.java
+++ b/src/org/usfirst/frc/team3501/robot/commandgroups/AutonHopperShoot.java
@@ -3,41 +3,40 @@ 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 org.usfirst.frc.team3501.robot.commands.shooter.RunFlyWheelContinuous;
 
 import edu.wpi.first.wpilibj.command.CommandGroup;
 
 /**
- *
+ * // Robot starts in middle, goes to the hopper, then boiler,then shoots during
+ * auton
  */
 public class AutonHopperShoot extends CommandGroup {
 
-  public AutonHopperShoot() {
+  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(92.3, 1));
+    addSequential(new DriveDistance(DISTANCE_TO_TURNING_POSITION, 0.75));
     // Robot turns towards hopper
-    addSequential(new TurnForAngle(90.0, Constants.Direction.RIGHT, 1.0));
+    addSequential(new TurnForAngle(45.0, 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());
+    addSequential(new DriveDistance(DISTANCE_TO_HOPPER, 1));
+    // Robot turns right towards hopper
+    addSequential(new TurnForAngle(45.0, Constants.Direction.RIGHT, 1.0));
+    // Robot drives into hopper switch
+    addSequential(new DriveDistance(2.0, 1.0));
     // Robot backs up from switch
-    addSequential(new DriveDistance());
+    addSequential(new DriveDistance(2.0, -1.0));
     // Robot turns towards the boiler
-    addSequential(new TurnForAngle(90));
+    addSequential(new TurnForAngle(90.0, Constants.Direction.RIGHT, 1.0));
     // Robot drives to boiler
-    addSequential(new DriveDistance());
+    addSequential(new DriveDistance(123.3, 1.0));
     // Robot turns parallel to boiler
-    addSequential(new TurnForAngle(45));
+    addSequential(new TurnForAngle(45.0, Constants.Direction.LEFT, 1.0));
     // Shoot
-    addSequential(new RunFlyWheel());
+    addSequential(new RunFlyWheelContinuous());
 
   }
 }