--- /dev/null
+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 edu.wpi.first.wpilibj.command.CommandGroup;
+
+/**
+ *
+ */
+public class AutonHopperShoot extends CommandGroup {
+
+ public AutonHopperShoot() {
+
+ // Robot drives from center to front of airship
+ addSequential(new DriveDistance(92.3, 1));
+ // Robot turns towards hopper
+ addSequential(new TurnForAngle(90.0, 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());
+ // Robot backs up from switch
+ addSequential(new DriveDistance());
+ // Robot turns towards the boiler
+ addSequential(new TurnForAngle(90));
+ // Robot drives to boiler
+ addSequential(new DriveDistance());
+ // Robot turns parallel to boiler
+ addSequential(new TurnForAngle(45));
+ // Shoot
+ addSequential(new RunFlyWheel());
+
+ }
+}