X-Git-Url: http://challenge-bot.com/repos/?a=blobdiff_plain;f=src%2Forg%2Fusfirst%2Ffrc%2Fteam3501%2Frobot%2Fcommandgroups%2FAutonHopperShoot.java;h=ddb8763298a13df1f6349b6d2e0ad2a3ef5f3463;hb=refs%2Fheads%2Fmichael%2FAutonHopperShoot;hp=28c34132de49ad7d63679ee5d2e2962904e701a0;hpb=2fb7ee9c5a17a5c29c60bc2db1d0a904b9bc0d96;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 28c3413..ddb8763 100644
--- a/src/org/usfirst/frc/team3501/robot/commandgroups/AutonHopperShoot.java
+++ b/src/org/usfirst/frc/team3501/robot/commandgroups/AutonHopperShoot.java
@@ -1,6 +1,7 @@
 package org.usfirst.frc.team3501.robot.commandgroups;
 
 import org.usfirst.frc.team3501.robot.Constants;
+import org.usfirst.frc.team3501.robot.Constants.Direction;
 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.RunFlyWheelContinuous;
@@ -8,36 +9,33 @@ 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() {
+  // If red, direction is right; if blue, direction is left
+  private static final Direction DIRECTION_TO_HOPPER = Constants.Direction.RIGHT;
+  // If red, direction is left; if blue, direction is right
+  private static final Direction DIRECTION_TO_BOILER = Constants.Direction.LEFT;
 
+  public AutonHopperShoot() {
     // Robot drives from center to front of airship
-    addSequential(new DriveDistance(92.3, 1));
+    addSequential(new DriveDistance(94.75, 0.75));
     // Robot turns towards hopper
-    addSequential(new TurnForAngle(90.0, Constants.Direction.RIGHT, 1.0));
-    // Robot drives near hopper
-    addSequential(new DriveDistance(191.5, 1));
-    // Robot turns left towards hopper
-    addSequential(new TurnForAngle(90.0, Constants.Direction.LEFT, 1.0));
-    // Robot drives in front of hopper
-    addSequential(new DriveDistance(30.0, 1.0));
-    // Robot turns to face hopper
-    addSequential(new TurnForAngle(90.0, Constants.Direction.RIGHT, 1.0));
-    // Robot hits hopper switch
-    addSequential(new DriveDistance(2.0, 1.0));
+    addSequential(new TurnForAngle(90.0, DIRECTION_TO_HOPPER, 1.0));
+    // Robot drives into hopper switch
+    addSequential(new DriveDistance(44.0, 1));
     // Robot backs up from switch
-    addSequential(new DriveDistance(2.0, -1.0));
+    addSequential(new DriveDistance(5.0, -1.0));
     // Robot turns towards the boiler
-    addSequential(new TurnForAngle(90.0, Constants.Direction.RIGHT, 1.0));
+    addSequential(new TurnForAngle(90.0, DIRECTION_TO_HOPPER, 1.0));
     // Robot drives to boiler
-    addSequential(new DriveDistance(123.3, 1.0));
+    addSequential(new DriveDistance(75.7, 0.75));
     // Robot turns parallel to boiler
-    addSequential(new TurnForAngle(45.0, Constants.Direction.LEFT, 1.0));
+    addSequential(new TurnForAngle(46.6, Constants.Direction.LEFT, 1.0));
     // Shoot
-    addSequential(new RunFlyWheelContinuous(1.0));
+    addSequential(new RunFlyWheelContinuous());
 
   }
 }