X-Git-Url: http://challenge-bot.com/repos/?p=3501%2F2017steamworks;a=blobdiff_plain;f=src%2Forg%2Fusfirst%2Ffrc%2Fteam3501%2Frobot%2Fcommandgroups%2FAutonHopperShoot.java;h=ddb8763298a13df1f6349b6d2e0ad2a3ef5f3463;hp=02f8e7e4d454980d8726e22f5333f934e0943713;hb=f28e5b7019c5e2589fffb649b2fd330c072094d3;hpb=fc01853816fd54b165e7bffcd8afe3daa492029b

diff --git a/src/org/usfirst/frc/team3501/robot/commandgroups/AutonHopperShoot.java b/src/org/usfirst/frc/team3501/robot/commandgroups/AutonHopperShoot.java
index 02f8e7e..ddb8763 100644
--- a/src/org/usfirst/frc/team3501/robot/commandgroups/AutonHopperShoot.java
+++ b/src/org/usfirst/frc/team3501/robot/commandgroups/AutonHopperShoot.java
@@ -1,6 +1,7 @@
 package org.usfirst.frc.team3501.robot.commandgroups;
 
 import org.usfirst.frc.team3501.robot.Constants;
+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.shooter.RunFlyWheelContinuous;
@@ -13,17 +14,22 @@ import edu.wpi.first.wpilibj.command.CommandGroup;
  */
 public class AutonHopperShoot extends CommandGroup {
 
+  // If red, direction is right; if blue, direction is left
+  private static final Direction DIRECTION_TO_HOPPER = Constants.Direction.RIGHT;
+  // If red, direction is left; if blue, direction is right
+  private static final Direction DIRECTION_TO_BOILER = Constants.Direction.LEFT;
+
   public AutonHopperShoot() {
     // Robot drives from center to front of airship
     addSequential(new DriveDistance(94.75, 0.75));
     // Robot turns towards hopper
-    addSequential(new TurnForAngle(90.0, Constants.Direction.RIGHT, 1.0));
+    addSequential(new TurnForAngle(90.0, DIRECTION_TO_HOPPER, 1.0));
     // Robot drives into hopper switch
     addSequential(new DriveDistance(44.0, 1));
     // Robot backs up from switch
     addSequential(new DriveDistance(5.0, -1.0));
     // Robot turns towards the boiler
-    addSequential(new TurnForAngle(90.0, Constants.Direction.RIGHT, 1.0));
+    addSequential(new TurnForAngle(90.0, DIRECTION_TO_HOPPER, 1.0));
     // Robot drives to boiler
     addSequential(new DriveDistance(75.7, 0.75));
     // Robot turns parallel to boiler