Commit | Line | Data |
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6bb7f8ac | 1 | package org.usfirst.frc.team3501.robot.commands.auton; |
d607dcbb | 2 | |
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3 | import org.usfirst.frc.team3501.robot.Constants; |
4 | import org.usfirst.frc.team3501.robot.commands.driving.DriveDistance; | |
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5 | import org.usfirst.frc.team3501.robot.commands.driving.DriveForTime; |
6 | ||
ebae4bde | 7 | import edu.wpi.first.wpilibj.command.CommandGroup; |
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8 | |
9 | /*** | |
10 | * This command will drive the robot through the rock wall. | |
11 | * | |
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12 | * dependency on subsystems: drivetrain |
13 | * | |
14 | * dependency on other commands: DriveForTime | |
15 | * | |
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16 | * pre-condition: robot is flush against the ramp of the outerworks in front of |
17 | * the rock wall | |
18 | * | |
19 | * post-condition: the robot has passed the rock wall and is in the next zone | |
20 | * | |
21 | * @author Meryem and Avi | |
22 | * | |
23 | */ | |
d607dcbb | 24 | |
dba0b9ad | 25 | public class PassRockWall extends CommandGroup { |
d607dcbb | 26 | |
dba0b9ad | 27 | public PassRockWall() { |
f11e6200 | 28 | if (Constants.DeadReckoning.isUsingTimeToPassDefense) { |
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29 | addSequential(new DriveForTime(Constants.DeadReckoning.passRockWallTime, |
30 | Constants.DeadReckoning.passRockWallSpeed)); | |
31 | } | |
32 | else { | |
33 | addSequential(new DriveDistance( | |
34 | Constants.DeadReckoning.passRockWallDistance, | |
35 | Constants.DriveTrain.PASS_DEFENSE_TIMEOUT)); | |
36 | } | |
d607dcbb | 37 | |
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38 | } |
39 | } |