From f28e5b7019c5e2589fffb649b2fd330c072094d3 Mon Sep 17 00:00:00 2001 From: Michael Wang Date: Sun, 19 Feb 2017 11:42:59 -0800 Subject: [PATCH] add variables for both sides --- .../team3501/robot/commandgroups/AutonHopperShoot.java | 10 ++++++++-- 1 file changed, 8 insertions(+), 2 deletions(-) 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 -- 2.30.2