Commit | Line | Data |
---|---|---|
f53566b3 HD |
1 | package org.usfirst.frc.team3501.robot.commands.auton; |
2 | ||
3 | import org.usfirst.frc.team3501.robot.Constants.Auton; | |
4 | import org.usfirst.frc.team3501.robot.Constants.Defense; | |
5 | import org.usfirst.frc.team3501.robot.commands.shooter.Shoot; | |
6 | ||
7 | import edu.wpi.first.wpilibj.command.CommandGroup; | |
8 | import edu.wpi.first.wpilibj.command.WaitCommand; | |
9 | ||
10 | public class ChooseStrategy extends CommandGroup { | |
11 | ||
12 | public ChooseStrategy(int position, Defense defense) { | |
13 | ||
14 | if (defense == Defense.PORTCULLIS) | |
15 | addSequential(new PassPortcullis()); | |
16 | ||
17 | else if (defense == Defense.CHIVAL_DE_FRISE) | |
18 | addSequential(new PassChivalDeFrise()); | |
19 | ||
20 | else if (defense == Defense.MOAT) | |
21 | addSequential(new PassMoat()); | |
22 | ||
23 | else if (defense == Defense.ROCK_WALL) | |
24 | addSequential(new PassRockWall()); | |
25 | ||
26 | else if (defense == Defense.DRAWBRIDGE) | |
27 | addSequential(new PassDrawbridge()); | |
28 | ||
29 | else if (defense == Defense.SALLY_PORT) | |
30 | addSequential(new PassSallyPort()); | |
31 | ||
32 | else if (defense == Defense.RAMPART) | |
33 | addSequential(new PassRampart()); | |
34 | ||
35 | else if (defense == Defense.ROUGH_TERRAIN) | |
36 | addSequential(new PassRoughTerrain()); | |
37 | ||
38 | else if (defense == Defense.LOW_BAR) | |
39 | addSequential(new PassLowBar()); | |
40 | ||
41 | addSequential(new AlignToScore(position)); | |
42 | // TODO: test for how long robot should wait | |
43 | addSequential(new WaitCommand(Auton.WAIT_TIME)); | |
44 | addSequential(new Shoot()); | |
45 | ||
46 | } | |
47 | } |