X-Git-Url: http://challenge-bot.com/repos/?a=blobdiff_plain;f=src%2Forg%2Fusfirst%2Ffrc%2Fteam3501%2Frobot%2Fcommandgroups%2FAutonMiddleGear.java;h=2a1a7a684b5173bb087c4a07654466d496a62ab5;hb=f74d236db406193b851bff99e4daec7b7abf35e7;hp=bd718b341c6038983a6b9652ea7c64869e108eff;hpb=e6e87119464c6c595e53fa3aeb1213544cf1fd23;p=3501%2F2017steamworks

diff --git a/src/org/usfirst/frc/team3501/robot/commandgroups/AutonMiddleGear.java b/src/org/usfirst/frc/team3501/robot/commandgroups/AutonMiddleGear.java
index bd718b3..2a1a7a6 100644
--- a/src/org/usfirst/frc/team3501/robot/commandgroups/AutonMiddleGear.java
+++ b/src/org/usfirst/frc/team3501/robot/commandgroups/AutonMiddleGear.java
@@ -1,9 +1,8 @@
 
 package org.usfirst.frc.team3501.robot.commandgroups;
 
-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.driving.ShiftGearManipulatorPistonLow;
+import org.usfirst.frc.team3501.robot.commands.driving.TimeDrive;
 
 import edu.wpi.first.wpilibj.command.CommandGroup;
 
@@ -18,13 +17,7 @@ import edu.wpi.first.wpilibj.command.CommandGroup;
  * again to cross the baseline.
  */
 public class AutonMiddleGear extends CommandGroup {
-  private static final double DISTANCE_TO_PEG = 91.3;
-  private static final double DISTANCE_TO_BACK_OUT = 29.75;
-  private static final double THIRD_DISTANCE_TO_TRAVEL = 70;
-  private static final double DISTANCE_TO_BASELINE = 50.5;
-
-  private static final double ANGLE_TO_TURN = 90;
-
+  private static final double DISTANCE_TO_PEG = 91.3 - 32;
   private static final double maxTimeOut = 7;
 
   /***
@@ -35,19 +28,10 @@ public class AutonMiddleGear extends CommandGroup {
    *          direction to turn after placing gear on peg in order to cross the
    *          baseline. Only Direction.LEFT and Direction.RIGHT will be accepted
    */
-  public AutonMiddleGear(Direction direction) {
-    addSequential(new DriveDistance(DISTANCE_TO_PEG, maxTimeOut));
-    addSequential(new DriveDistance(DISTANCE_TO_BACK_OUT, maxTimeOut));
-    addSequential(new TurnForAngle(ANGLE_TO_TURN, direction, maxTimeOut));
-    addSequential(new DriveDistance(THIRD_DISTANCE_TO_TRAVEL, maxTimeOut));
-    addSequential(
-        new TurnForAngle(ANGLE_TO_TURN, oppositeOf(direction), maxTimeOut));
-    addSequential(new DriveDistance(DISTANCE_TO_BASELINE, maxTimeOut));
-  }
+  public AutonMiddleGear() {
+    // addSequential(new DriveDistance(DISTANCE_TO_PEG, maxTimeOut));
 
-  private Direction oppositeOf(Direction direction) {
-    if (direction == Direction.LEFT)
-      return Direction.RIGHT;
-    return Direction.LEFT;
+    addSequential(new ShiftGearManipulatorPistonLow());
+    addSequential(new TimeDrive(2, 0.6));
   }
 }