Commit | Line | Data |
---|---|---|
6bb7f8ac | 1 | package org.usfirst.frc.team3501.robot.commands.shooter; |
9728080f | 2 | |
24850996 | 3 | import org.usfirst.frc.team3501.robot.Robot; |
376b38ae | 4 | |
071ab315 KZ |
5 | import edu.wpi.first.wpilibj.command.CommandGroup; |
6 | import edu.wpi.first.wpilibj.command.WaitCommand; | |
376b38ae | 7 | |
071ab315 | 8 | public class Shoot extends CommandGroup { |
376b38ae | 9 | |
24850996 | 10 | public boolean usePhotogate; |
11 | ||
071ab315 | 12 | public Shoot() { |
071ab315 KZ |
13 | addSequential(new WaitCommand(3.0)); |
14 | addSequential(new runShooter()); | |
15 | addSequential(new WaitCommand(3.0)); | |
24850996 | 16 | if (Robot.shooter.usePhotogate()) { |
17 | if (Robot.shooter.isBallInside()) { | |
18 | addSequential(new ExtendPunch()); | |
19 | addSequential(new WaitCommand(5.0)); | |
20 | addSequential(new RetractPunch()); | |
21 | } | |
22 | } else { | |
23 | addSequential(new ExtendPunch()); | |
24 | addSequential(new WaitCommand(5.0)); | |
25 | addSequential(new RetractPunch()); | |
26 | } | |
27 | ||
071ab315 | 28 | } |
376b38ae | 29 | } |