Commit | Line | Data |
---|---|---|
6bb7f8ac | 1 | package org.usfirst.frc.team3501.robot.commands.auton; |
d607dcbb | 2 | |
9d518a5c | 3 | import org.usfirst.frc.team3501.robot.Constants; |
dfcc1b21 | 4 | import org.usfirst.frc.team3501.robot.commands.driving.DriveDistance; |
9d518a5c | 5 | import org.usfirst.frc.team3501.robot.commands.driving.DriveForTime; |
dfcc1b21 | 6 | |
ab4ae5b8 | 7 | import edu.wpi.first.wpilibj.command.CommandGroup; |
d607dcbb ME |
8 | |
9 | /*** | |
10 | * This command will drive the robot through the low bar. | |
11 | * | |
dcc47c44 ME |
12 | * dependency on sensors: encoders |
13 | * dependency on subsystems: drivetrain | |
14 | * dependency on other commands: DriveForDist | |
dfcc1b21 | 15 | * |
d607dcbb ME |
16 | * pre-condition: robot is flush against the ramp of the outerworks in front of |
17 | * the low bar | |
18 | * | |
19 | * post-condition: the robot has passed the low bar and is in the next zone | |
20 | * | |
21 | * @author Meryem and Avi | |
22 | * | |
23 | */ | |
d607dcbb | 24 | |
dba0b9ad | 25 | public class PassLowBar extends CommandGroup { |
54c525f6 | 26 | |
dba0b9ad | 27 | public PassLowBar() { |
f11e6200 | 28 | if (Constants.DeadReckoning.isUsingTimeToPassDefense) { |
9d518a5c CZ |
29 | addSequential(new DriveForTime(Constants.DeadReckoning.passLowBarTime, |
30 | Constants.DeadReckoning.passLowBarSpeed)); | |
31 | } | |
32 | else { | |
33 | addSequential(new DriveDistance( | |
34 | Constants.DeadReckoning.passLowBarDistance, | |
35 | Constants.DriveTrain.PASS_DEFENSE_TIMEOUT)); | |
36 | } | |
d607dcbb ME |
37 | } |
38 | } |