Commit | Line | Data |
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aa770db6 MW |
1 | package org.usfirst.frc.team3501.robot.commandgroups; |
2 | ||
3 | import org.usfirst.frc.team3501.robot.Constants; | |
4 | import org.usfirst.frc.team3501.robot.commands.driving.DriveDistance; | |
5 | import org.usfirst.frc.team3501.robot.commands.driving.TurnForAngle; | |
2fb7ee9c | 6 | import org.usfirst.frc.team3501.robot.commands.shooter.RunFlyWheelContinuous; |
aa770db6 MW |
7 | |
8 | import edu.wpi.first.wpilibj.command.CommandGroup; | |
9 | ||
10 | /** | |
11 | * | |
12 | */ | |
13 | public class AutonHopperShoot extends CommandGroup { | |
14 | ||
15 | public AutonHopperShoot() { | |
16 | ||
17 | // Robot drives from center to front of airship | |
82696d5c | 18 | addSequential(new DriveDistance(5.0, 1)); |
aa770db6 | 19 | // Robot turns towards hopper |
82696d5c | 20 | addSequential(new TurnForAngle(45.0, Constants.Direction.RIGHT, 1.0)); |
aa770db6 | 21 | // Robot drives near hopper |
82696d5c | 22 | addSequential(new DriveDistance(224.569677, 1)); |
aa770db6 | 23 | // Robot turns left towards hopper |
82696d5c | 24 | addSequential(new TurnForAngle(45.0, Constants.Direction.RIGHT, 1.0)); |
aa770db6 | 25 | // Robot drives in front of hopper |
2fb7ee9c | 26 | addSequential(new DriveDistance(2.0, 1.0)); |
aa770db6 | 27 | // Robot backs up from switch |
2fb7ee9c | 28 | addSequential(new DriveDistance(2.0, -1.0)); |
aa770db6 | 29 | // Robot turns towards the boiler |
2fb7ee9c | 30 | addSequential(new TurnForAngle(90.0, Constants.Direction.RIGHT, 1.0)); |
aa770db6 | 31 | // Robot drives to boiler |
2fb7ee9c | 32 | addSequential(new DriveDistance(123.3, 1.0)); |
aa770db6 | 33 | // Robot turns parallel to boiler |
2fb7ee9c | 34 | addSequential(new TurnForAngle(45.0, Constants.Direction.LEFT, 1.0)); |
aa770db6 | 35 | // Shoot |
2fb7ee9c | 36 | addSequential(new RunFlyWheelContinuous(1.0)); |
aa770db6 MW |
37 | |
38 | } | |
39 | } |