Add definition for numbers and add description

[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 ebad9095023b5964993d1e5f196ffaa9fba0733f..2083548128fed923cdb270307c12d71c53bc8ff3 100644 (file)
--- a/src/org/usfirst/frc/team3501/robot/commandgroups/AutonHopperShoot.java
+++ b/src/org/usfirst/frc/team3501/robot/commandgroups/AutonHopperShoot.java
@@ -3,41 +3,39 @@ package org.usfirst.frc.team3501.robot.commandgroups;
 import org.usfirst.frc.team3501.robot.Constants;
 import org.usfirst.frc.team3501.robot.commands.driving.DriveDistance;
 import org.usfirst.frc.team3501.robot.commands.driving.TurnForAngle;
-import org.usfirst.frc.team3501.robot.commands.shooter.RunFlyWheel;
+import org.usfirst.frc.team3501.robot.commands.shooter.RunFlyWheelContinuous;
 
 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());
+    addSequential(new DriveDistance(DISTANCE_TO_HOPPER, 1));
     // Robot turns left towards hopper
-    addSequential(new TurnForAngle(90));
+    addSequential(new TurnForAngle(45.0, Constants.Direction.RIGHT, 1.0));
     // Robot drives in front of hopper
-    addSequential(new DriveDistance());
-    // Robot turns to face hopper
-    addSequential(new TurnForAngle(90));
-    // Robot hits hopper switch
-    addSequential(new DriveDistance());
+    addSequential(new DriveDistance(2.0, 1.0));
     // Robot backs up from switch
-    addSequential(new DriveDistance());
+    addSequential(new DriveDistance(2.0, -1.0));
     // Robot turns towards the boiler
-    addSequential(new TurnForAngle(90));
+    addSequential(new TurnForAngle(90.0, Constants.Direction.RIGHT, 1.0));
     // Robot drives to boiler
-    addSequential(new DriveDistance());
+    addSequential(new DriveDistance(123.3, 1.0));
     // Robot turns parallel to boiler
-    addSequential(new TurnForAngle(45));
+    addSequential(new TurnForAngle(45.0, Constants.Direction.LEFT, 1.0));
     // Shoot
-    addSequential(new RunFlyWheel());
+    addSequential(new RunFlyWheelContinuous(1.0));
 
   }
 }