challenge-bot.com Git - 3501/2017steamworks/blob - src/org/usfirst/frc/team3501/robot/commandgroups/AutonHopperShoot.java

   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;
   6 import org.usfirst.frc.team3501.robot.commands.shooter.RunFlyWheelContinuous;
   7
   8 import edu.wpi.first.wpilibj.command.CommandGroup;
   9
  10 /**
  11  * // Robot starts in middle, goes to the hopper, then boiler,then shoots during
  12  * auton
  13  */
  14 public class AutonHopperShoot extends CommandGroup {
  15
  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));
  31     // Shoot
  32     addSequential(new RunFlyWheelContinuous());
  33
  34   }
  35 }