ebad9095023b5964993d1e5f196ffaa9fba0733f
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
.RunFlyWheel
;
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(92.3, 1));
19 // Robot turns towards hopper
20 addSequential(new TurnForAngle(90.0, Constants
.Direction
.RIGHT
, 1.0));
21 // Robot drives near hopper
22 addSequential(new DriveDistance());
23 // Robot turns left towards hopper
24 addSequential(new TurnForAngle(90));
25 // Robot drives in front of hopper
26 addSequential(new DriveDistance());
27 // Robot turns to face hopper
28 addSequential(new TurnForAngle(90));
29 // Robot hits hopper switch
30 addSequential(new DriveDistance());
31 // Robot backs up from switch
32 addSequential(new DriveDistance());
33 // Robot turns towards the boiler
34 addSequential(new TurnForAngle(90));
35 // Robot drives to boiler
36 addSequential(new DriveDistance());
37 // Robot turns parallel to boiler
38 addSequential(new TurnForAngle(45));
40 addSequential(new RunFlyWheel());