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;
*/
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