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   private static final double DISTANCE_TO_HOPPER = 224.569677;
  17
  18   public AutonHopperShoot() {
  19     // Robot drives from center to front of airship
  20     addSequential(new DriveDistance(5.0, 1));
  21     // Robot turns towards hopper
  22     addSequential(new TurnForAngle(45.0, Constants.Direction.RIGHT, 1.0));
  23     // Robot drives near hopper
  24     addSequential(new DriveDistance(DISTANCE_TO_HOPPER, 1));
  25     // Robot turns left towards hopper
  26     addSequential(new TurnForAngle(45.0, Constants.Direction.RIGHT, 1.0));
  27     // Robot drives in front of hopper
  28     addSequential(new DriveDistance(2.0, 1.0));
  29     // Robot backs up from switch
  30     addSequential(new DriveDistance(2.0, -1.0));
  31     // Robot turns towards the boiler
  32     addSequential(new TurnForAngle(90.0, Constants.Direction.RIGHT, 1.0));
  33     // Robot drives to boiler
  34     addSequential(new DriveDistance(123.3, 1.0));
  35     // Robot turns parallel to boiler
  36     addSequential(new TurnForAngle(45.0, Constants.Direction.LEFT, 1.0));
  37     // Shoot
  38     addSequential(new RunFlyWheelContinuous(1.0));
  39
  40   }
  41 }