import edu.wpi.first.wpilibj.command.CommandGroup;
/**
- *
+ * // Robot starts in middle, goes to the hopper, then boiler,then shoots during
+ * auton
*/
public class AutonHopperShoot extends CommandGroup {
- public AutonHopperShoot() {
+ private static final double DISTANCE_TO_HOPPER = 224.569677;
+ 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(DISTANCE_TO_HOPPER, 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));