Remove two steps from AutonHopperShooter and decrease time it takes to execute commands

[3501/2017steamworks] / src / org / usfirst / frc / team3501 / robot / commandgroups / AutonHopperShoot.java

diff --git a/src/org/usfirst/frc/team3501/robot/commandgroups/AutonHopperShoot.java b/src/org/usfirst/frc/team3501/robot/commandgroups/AutonHopperShoot.java
index 28c34132de49ad7d63679ee5d2e2962904e701a0..94dfb9eb2a3d49afa0c6c4ec22236a5365fd2d0f 100644 (file)
--- a/src/org/usfirst/frc/team3501/robot/commandgroups/AutonHopperShoot.java
+++ b/src/org/usfirst/frc/team3501/robot/commandgroups/AutonHopperShoot.java
@@ -15,18 +15,14 @@ public class AutonHopperShoot extends CommandGroup {
   public AutonHopperShoot() {
 
     // Robot drives from center to front of airship
-    addSequential(new DriveDistance(92.3, 1));
+    addSequential(new DriveDistance(5.0, 1));
     // Robot turns towards hopper
-    addSequential(new TurnForAngle(90.0, Constants.Direction.RIGHT, 1.0));
+    addSequential(new TurnForAngle(45.0, Constants.Direction.RIGHT, 1.0));
     // Robot drives near hopper
-    addSequential(new DriveDistance(191.5, 1));
+    addSequential(new DriveDistance(224.569677, 1));
     // Robot turns left towards hopper
-    addSequential(new TurnForAngle(90.0, Constants.Direction.LEFT, 1.0));
+    addSequential(new TurnForAngle(45.0, Constants.Direction.RIGHT, 1.0));
     // Robot drives in front of hopper
-    addSequential(new DriveDistance(30.0, 1.0));
-    // Robot turns to face hopper
-    addSequential(new TurnForAngle(90.0, Constants.Direction.RIGHT, 1.0));
-    // Robot hits hopper switch
     addSequential(new DriveDistance(2.0, 1.0));
     // Robot backs up from switch
     addSequential(new DriveDistance(2.0, -1.0));