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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 | ||
42d6d87c | 7 | import edu.wpi.first.wpilibj.command.CommandGroup; |
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8 | |
9 | /*** | |
10 | * This command will drive the robot through the rough terrain. | |
11 | * | |
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12 | * dependency on subsytems: 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 rough terrain | |
18 | * | |
19 | * post-condition: the robot has passed the rough terrain and is in the next | |
20 | * zone | |
21 | * | |
22 | * @author Meryem and Avi | |
23 | * | |
24 | */ | |
dba0b9ad | 25 | public class PassRoughTerrain extends CommandGroup { |
d607dcbb | 26 | |
dba0b9ad | 27 | public PassRoughTerrain() { |
d607dcbb | 28 | |
ca325a58 | 29 | if (Constants.Auton.isUsingTime) { |
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30 | addSequential(new DriveForTime(Constants.Auton.passRockWallTime, |
31 | Constants.Auton.passRockWallSpeed)); | |
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32 | } |
33 | else { | |
34 | addSequential(new DriveDistance( | |
600a1a1c | 35 | Constants.Auton.passRoughTerrainDistance, |
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36 | Constants.DriveTrain.PASS_DEFENSE_TIMEOUT)); |
37 | } | |
d607dcbb | 38 | |
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39 | } |
40 | } |