X-Git-Url: http://challenge-bot.com/repos/?a=blobdiff_plain;f=src%2Forg%2Fusfirst%2Ffrc%2Fteam3501%2Frobot%2Fcommands%2FDefaultAutonStrategy.java;h=99fe317d3945d2ab85ebf689d2f561d458a8c940;hb=a1989c116a0926b44d6f36067e84b7f5fb2d313f;hp=df21714a86ee482316b8dd49b508388456fa081e;hpb=3c259ed2ad4ca14e589b65807041d832e1e0a8eb;p=3501%2Fstronghold-2016 diff --git a/src/org/usfirst/frc/team3501/robot/commands/DefaultAutonStrategy.java b/src/org/usfirst/frc/team3501/robot/commands/DefaultAutonStrategy.java index df21714a..99fe317d 100755 --- a/src/org/usfirst/frc/team3501/robot/commands/DefaultAutonStrategy.java +++ b/src/org/usfirst/frc/team3501/robot/commands/DefaultAutonStrategy.java @@ -8,56 +8,56 @@ import edu.wpi.first.wpilibj.command.CommandGroup; * The default autonomous strategy involves passing the defense that is in front * of it, aiming the robot/ shooter towards the goal, and shooting. */ + public class DefaultAutonStrategy extends CommandGroup { public DefaultAutonStrategy(int position, Defense defense) { - /* - * pass defense drive forward do what has to be done to pass the defense - * drive forward aim face tower aim shooter toward goal shoot - */ - - // TODO: any variable that is not declared/instantiated are vars that need - // to be tested for their value switch (defense) { + case PORTCULLIS: - // we are assuming that the robot is also driving forward as the - // portcullis is being lifted + addSequential(new LiftPortcullis()); + case SALLY_PORT: - // addSequential(); + + addSequential(new PassSallyPort()); + case ROUGH_TERRAIN: - addSequential(new DriveForDistance(distance, speed)); + addSequential(new PassRoughTerrain()); case LOW_BAR: - addSequential(new DriveForDistance(distance, speed)); + addSequential(new PassLowBar()); case CHEVAL_DE_FRISE: - addSequential(new LowerChevalDeFrise()); + addSequential(new PassChevalDeFrise()); case DRAWBRIDGE: - addSequential(new LowerDrawBridge()); + addSequential(new PassDrawBridge()); case MOAT: - addSequential(new DriveForDistance(distance, speed)); + addSequential(new PassMoat()); case ROCK_WALL: - addSequential(new DriveForDistance(distance, speed)); + addSequential(new PassRockWall()); case RAMPART: - addSequential(new DriveForDistance(distance, speed)); + addSequential(new PassRampart()); default: break; } + addSequential(new AimAndAlign()); + addSequential(new Shoot()); + } }