Commit | Line | Data |
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6bb7f8ac | 1 | package org.usfirst.frc.team3501.robot.commands.auton; |
d607dcbb | 2 | |
ab4ae5b8 | 3 | import edu.wpi.first.wpilibj.command.CommandGroup; |
d607dcbb ME |
4 | |
5 | /*** | |
6 | * This command will drive the robot through the low bar. | |
7 | * | |
dcc47c44 ME |
8 | * dependency on sensors: encoders |
9 | * dependency on subsystems: drivetrain | |
10 | * dependency on other commands: DriveForDist | |
11 | * | |
d607dcbb ME |
12 | * pre-condition: robot is flush against the ramp of the outerworks in front of |
13 | * the low bar | |
14 | * | |
15 | * post-condition: the robot has passed the low bar and is in the next zone | |
16 | * | |
17 | * @author Meryem and Avi | |
18 | * | |
19 | */ | |
d607dcbb | 20 | |
ab4ae5b8 | 21 | public class PassLowBar extends CommandGroup { |
54c525f6 | 22 | |
ab4ae5b8 ME |
23 | private final double DISTANCE = 4.0; |
24 | private final double DEFAULT_SPEED = 0.5; | |
d607dcbb | 25 | |
ab4ae5b8 | 26 | public PassLowBar() { |
ff5c6dcc | 27 | // TODO: need to add sequential for retracting the arms and shooting hood once those commands are made |
ab4ae5b8 | 28 | addSequential(new DriveForDistance(DISTANCE, DEFAULT_SPEED)); |
d607dcbb ME |
29 | } |
30 | ||
ab4ae5b8 ME |
31 | public PassLowBar(double speed) { |
32 | addSequential(new DriveForDistance(DISTANCE, speed)); | |
d607dcbb ME |
33 | } |
34 | } |