Commit | Line | Data |
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6bb7f8ac | 1 | package org.usfirst.frc.team3501.robot.commands.auton; |
d607dcbb | 2 | |
dfcc1b21 CZ |
3 | import org.usfirst.frc.team3501.robot.commands.driving.DriveDistance; |
4 | ||
ab4ae5b8 | 5 | import edu.wpi.first.wpilibj.command.CommandGroup; |
d607dcbb ME |
6 | |
7 | /*** | |
8 | * This command will drive the robot through the low bar. | |
9 | * | |
dcc47c44 ME |
10 | * dependency on sensors: encoders |
11 | * dependency on subsystems: drivetrain | |
12 | * dependency on other commands: DriveForDist | |
dfcc1b21 | 13 | * |
d607dcbb ME |
14 | * pre-condition: robot is flush against the ramp of the outerworks in front of |
15 | * the low bar | |
16 | * | |
17 | * post-condition: the robot has passed the low bar and is in the next zone | |
18 | * | |
19 | * @author Meryem and Avi | |
20 | * | |
21 | */ | |
d607dcbb | 22 | |
ab4ae5b8 | 23 | public class PassLowBar extends CommandGroup { |
54c525f6 | 24 | |
ab4ae5b8 ME |
25 | private final double DISTANCE = 4.0; |
26 | private final double DEFAULT_SPEED = 0.5; | |
d607dcbb | 27 | |
ab4ae5b8 | 28 | public PassLowBar() { |
dfcc1b21 CZ |
29 | // TODO: need to add sequential for retracting the arms and shooting hood |
30 | // once those commands are made | |
31 | addSequential(new DriveDistance(DISTANCE, DEFAULT_SPEED)); | |
d607dcbb ME |
32 | } |
33 | ||
ab4ae5b8 | 34 | public PassLowBar(double speed) { |
dfcc1b21 | 35 | addSequential(new DriveDistance(DISTANCE, speed)); |
d607dcbb ME |
36 | } |
37 | } |