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

   1
   2 package org.usfirst.frc.team3501.robot.commandgroups;
   3
   4 import org.usfirst.frc.team3501.robot.commands.driving.ShiftGearManipulatorPistonLow;
   5 import org.usfirst.frc.team3501.robot.commands.driving.TimeDrive;
   6
   7 import edu.wpi.first.wpilibj.command.CommandGroup;
   8
   9 /**
  10  *
  11  * Authors Ayush, Nadia, Aziza and Abhinav
  12  *
  13  * This comandGroup, PlaceGearOnMiddlePeg is expected to have the robot start
  14  * from the middle of the starting line, right in front of the airship. The
  15  * robot will drive forward and place the gear on the peg. Then, the robot will
  16  * drive backwards, turn left, drive forward, turn right, and drive forward
  17  * again to cross the baseline.
  18  */
  19 public class AutonMiddleGear extends CommandGroup {
  20   private static final double DISTANCE_TO_PEG = 91.3 - 32;
  21   private static final double maxTimeOut = 7;
  22
  23   /***
  24    * This auton command group places the gear on the middle peg then crosses the
  25    * baseline
  26    *
  27    * @param direction
  28    *          direction to turn after placing gear on peg in order to cross the
  29    *          baseline. Only Direction.LEFT and Direction.RIGHT will be accepted
  30    */
  31   public AutonMiddleGear() {
  32     // addSequential(new DriveDistance(DISTANCE_TO_PEG, maxTimeOut));
  33
  34     addSequential(new ShiftGearManipulatorPistonLow());
  35     addSequential(new TimeDrive(2, 0.6));
  36   }
  37 }