02f8e7e4d454980d8726e22f5333f934e0943713
1 package org
.usfirst
.frc
.team3501
.robot
.commandgroups
;
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
;
6 import org
.usfirst
.frc
.team3501
.robot
.commands
.shooter
.RunFlyWheelContinuous
;
8 import edu
.wpi
.first
.wpilibj
.command
.CommandGroup
;
11 * // Robot starts in middle, goes to the hopper, then boiler,then shoots during
14 public class AutonHopperShoot
extends CommandGroup
{
16 public AutonHopperShoot() {
17 // Robot drives from center to front of airship
18 addSequential(new DriveDistance(94.75, 0.75));
19 // Robot turns towards hopper
20 addSequential(new TurnForAngle(90.0, Constants
.Direction
.RIGHT
, 1.0));
21 // Robot drives into hopper switch
22 addSequential(new DriveDistance(44.0, 1));
23 // Robot backs up from switch
24 addSequential(new DriveDistance(5.0, -1.0));
25 // Robot turns towards the boiler
26 addSequential(new TurnForAngle(90.0, Constants
.Direction
.RIGHT
, 1.0));
27 // Robot drives to boiler
28 addSequential(new DriveDistance(75.7, 0.75));
29 // Robot turns parallel to boiler
30 addSequential(new TurnForAngle(46.6, Constants
.Direction
.LEFT
, 1.0));
32 addSequential(new RunFlyWheelContinuous());