competition fixes

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

diff --git a/src/org/usfirst/frc/team3501/robot/commandgroups/AutonMiddleGear.java b/src/org/usfirst/frc/team3501/robot/commandgroups/AutonMiddleGear.java
index 913bbd7e746c6b9b39d9dd4fc9be58a49b99564f..2a1a7a684b5173bb087c4a07654466d496a62ab5 100644 (file)
--- a/src/org/usfirst/frc/team3501/robot/commandgroups/AutonMiddleGear.java
+++ b/src/org/usfirst/frc/team3501/robot/commandgroups/AutonMiddleGear.java
@@ -1,12 +1,10 @@
 
 package org.usfirst.frc.team3501.robot.commandgroups;
 
-import org.usfirst.frc.team3501.robot.Constants.Direction;
-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.driving.ShiftGearManipulatorPistonLow;
+import org.usfirst.frc.team3501.robot.commands.driving.TimeDrive;
 
 import edu.wpi.first.wpilibj.command.CommandGroup;
-import edu.wpi.first.wpilibj.command.WaitCommand;
 
 /**
  *
@@ -20,12 +18,6 @@ import edu.wpi.first.wpilibj.command.WaitCommand;
  */
 public class AutonMiddleGear extends CommandGroup {
   private static final double DISTANCE_TO_PEG = 91.3 - 32;
-  private static final double DISTANCE_TO_BACK_OUT = -29.75;
-  private static final double THIRD_DISTANCE_TO_TRAVEL = 70;
-  private static final double DISTANCE_TO_BASELINE = 50.5;
-
-  private static final double ANGLE_TO_TURN = 90;
-
   private static final double maxTimeOut = 7;
 
   /***
@@ -36,20 +28,10 @@ public class AutonMiddleGear extends CommandGroup {
    *          direction to turn after placing gear on peg in order to cross the
    *          baseline. Only Direction.LEFT and Direction.RIGHT will be accepted
    */
-  public AutonMiddleGear(Direction direction) {
-    addSequential(new DriveDistance(DISTANCE_TO_PEG, maxTimeOut));
-    addSequential(new WaitCommand(3));
-    addSequential(new DriveDistance(DISTANCE_TO_BACK_OUT, maxTimeOut));
-    addSequential(new TurnForAngle(ANGLE_TO_TURN, direction, maxTimeOut));
-    addSequential(new DriveDistance(THIRD_DISTANCE_TO_TRAVEL, maxTimeOut));
-    addSequential(
-        new TurnForAngle(ANGLE_TO_TURN, oppositeOf(direction), maxTimeOut));
-    addSequential(new DriveDistance(DISTANCE_TO_BASELINE, maxTimeOut));
-  }
+  public AutonMiddleGear() {
+    // addSequential(new DriveDistance(DISTANCE_TO_PEG, maxTimeOut));
 
-  private Direction oppositeOf(Direction direction) {
-    if (direction == Direction.LEFT)
-      return Direction.RIGHT;
-    return Direction.LEFT;
+    addSequential(new ShiftGearManipulatorPistonLow());
+    addSequential(new TimeDrive(2, 0.6));
   }
 }