*/
public class AutonHopperShoot extends CommandGroup {
- private static final double DISTANCE_TO_HOPPER = 224.569677;
- private static final double DISTANCE_TO_TURNING_POSITION = 5.0;
-
public AutonHopperShoot() {
// Robot drives from center to front of airship
- addSequential(new DriveDistance(DISTANCE_TO_TURNING_POSITION, 0.75));
+ addSequential(new DriveDistance(94.75, 0.75));
// Robot turns towards hopper
- addSequential(new TurnForAngle(45.0, Constants.Direction.RIGHT, 1.0));
- // Robot drives near hopper
- addSequential(new DriveDistance(DISTANCE_TO_HOPPER, 1));
- // Robot turns right towards hopper
- addSequential(new TurnForAngle(45.0, Constants.Direction.RIGHT, 1.0));
+ addSequential(new TurnForAngle(90.0, Constants.Direction.RIGHT, 1.0));
// Robot drives into hopper switch
- addSequential(new DriveDistance(2.0, 1.0));
+ addSequential(new DriveDistance(44.0, 1));
// Robot backs up from switch
- addSequential(new DriveDistance(2.0, -1.0));
+ addSequential(new DriveDistance(5.0, -1.0));
// Robot turns towards the boiler
addSequential(new TurnForAngle(90.0, Constants.Direction.RIGHT, 1.0));
// Robot drives to boiler
- addSequential(new DriveDistance(123.3, 1.0));
+ addSequential(new DriveDistance(75.7, 0.75));
// Robot turns parallel to boiler
- addSequential(new TurnForAngle(45.0, Constants.Direction.LEFT, 1.0));
+ addSequential(new TurnForAngle(46.6, Constants.Direction.LEFT, 1.0));
// Shoot
addSequential(new RunFlyWheelContinuous());