From 82696d5cb6a37720151c2c58f933d78dad46e9b6 Mon Sep 17 00:00:00 2001 From: Michael Wang Date: Wed, 18 Jan 2017 20:51:52 -0800 Subject: [PATCH] Remove two steps from AutonHopperShooter and decrease time it takes to execute commands --- .../robot/commandgroups/AutonHopperShoot.java | 12 ++++-------- 1 file changed, 4 insertions(+), 8 deletions(-) diff --git a/src/org/usfirst/frc/team3501/robot/commandgroups/AutonHopperShoot.java b/src/org/usfirst/frc/team3501/robot/commandgroups/AutonHopperShoot.java index 28c3413..94dfb9e 100644 --- a/src/org/usfirst/frc/team3501/robot/commandgroups/AutonHopperShoot.java +++ b/src/org/usfirst/frc/team3501/robot/commandgroups/AutonHopperShoot.java @@ -15,18 +15,14 @@ public class AutonHopperShoot extends CommandGroup { 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(191.5, 1)); + addSequential(new DriveDistance(224.569677, 1)); // Robot turns left towards hopper - addSequential(new TurnForAngle(90.0, Constants.Direction.LEFT, 1.0)); + addSequential(new TurnForAngle(45.0, Constants.Direction.RIGHT, 1.0)); // Robot drives in front of hopper - addSequential(new DriveDistance(30.0, 1.0)); - // Robot turns to face hopper - addSequential(new TurnForAngle(90.0, Constants.Direction.RIGHT, 1.0)); - // Robot hits hopper switch addSequential(new DriveDistance(2.0, 1.0)); // Robot backs up from switch addSequential(new DriveDistance(2.0, -1.0)); -- 2.30.2