Commit | Line | Data |
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6bb7f8ac | 1 | package org.usfirst.frc.team3501.robot.commands.auton; |
d607dcbb | 2 | |
1fb6ed96 ME |
3 | import org.usfirst.frc.team3501.robot.commands.driving.DriveForTime; |
4 | ||
fe726c3c | 5 | import edu.wpi.first.wpilibj.command.CommandGroup; |
d607dcbb ME |
6 | |
7 | /*** | |
8 | * This command will drive the robot through the moat. | |
9 | * | |
1fb6ed96 ME |
10 | * The code drives the robot for a specific time at a specific speed up the ramp |
11 | * to the defense then drive over the defense at a different speed and time. | |
12 | * | |
13 | * dependency on subsystem: drivetrain | |
14 | * | |
15 | * dependency on other commands: DriveForTime | |
16 | * | |
d607dcbb ME |
17 | * pre-condition: robot is flush against the ramp of the outerworks in front of |
18 | * the moat | |
19 | * | |
20 | * post-condition: the robot has passed the moat and is in the next zone | |
21 | * | |
22 | * @author Meryem and Avi | |
23 | * | |
24 | */ | |
d607dcbb | 25 | |
fe726c3c | 26 | public class PassMoat extends CommandGroup { |
d607dcbb | 27 | |
fe726c3c ME |
28 | private final double BEG_TIME = 0; |
29 | private final double MID_TIME = 0; | |
30 | private final double END_TIME = 0; | |
31 | private final double BEG_SPEED = 0; | |
32 | private final double MID_SPEED = 0; | |
33 | private final double END_SPEED = 0; | |
d607dcbb | 34 | |
fe726c3c ME |
35 | public PassMoat() { |
36 | addSequential(new DriveForTime(BEG_TIME, BEG_SPEED)); | |
37 | addSequential(new DriveForTime(MID_TIME, MID_SPEED)); | |
38 | addSequential(new DriveForTime(END_TIME, END_SPEED)); | |
d607dcbb | 39 | |
d607dcbb ME |
40 | } |
41 | } |