94dfb9eb2a3d49afa0c6c4ec22236a5365fd2d0f
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
;
13 public class AutonHopperShoot
extends CommandGroup
{
15 public AutonHopperShoot() {
17 // Robot drives from center to front of airship
18 addSequential(new DriveDistance(5.0, 1));
19 // Robot turns towards hopper
20 addSequential(new TurnForAngle(45.0, Constants
.Direction
.RIGHT
, 1.0));
21 // Robot drives near hopper
22 addSequential(new DriveDistance(224.569677, 1));
23 // Robot turns left towards hopper
24 addSequential(new TurnForAngle(45.0, Constants
.Direction
.RIGHT
, 1.0));
25 // Robot drives in front of hopper
26 addSequential(new DriveDistance(2.0, 1.0));
27 // Robot backs up from switch
28 addSequential(new DriveDistance(2.0, -1.0));
29 // Robot turns towards the boiler
30 addSequential(new TurnForAngle(90.0, Constants
.Direction
.RIGHT
, 1.0));
31 // Robot drives to boiler
32 addSequential(new DriveDistance(123.3, 1.0));
33 // Robot turns parallel to boiler
34 addSequential(new TurnForAngle(45.0, Constants
.Direction
.LEFT
, 1.0));
36 addSequential(new RunFlyWheelContinuous(1.0));