implement ShootAtHighGoal and add some helper methods

[3501/stronghold-2016] / src / org / usfirst / frc / team3501 / robot / commands / shooter / ShootAtHighGoal.java

package org.usfirst.frc.team3501.robot.commands.shooter;

import org.usfirst.frc.team3501.robot.Constants.IntakeArm;
import org.usfirst.frc.team3501.robot.Robot;
import org.usfirst.frc.team3501.robot.commands.intakearm.MoveIntakeArm;

import edu.wpi.first.wpilibj.command.CommandGroup;

/**
 * This command group performs the sequence of steps to shoot at the high goal
 *
 * pre-conditions: a ball is in the intake, and the intake is in the up position
 *
 * post-conditions: catapult is retracted, intake is extended
 */
public class ShootAtHighGoal extends CommandGroup {

  public ShootAtHighGoal() {
    // (if photogate) check if ball is in intake

    // make sure intake is in up position and change accordingly
    if (!Robot.intakeArm.isExtended())
      addSequential(new MoveIntakeArm(IntakeArm.RETRACT));

    // shoot catapult pistons
    addSequential(new FireCatapult());

    // extend intake (ball actually shoots here)
    addSequential(new MoveIntakeArm(IntakeArm.EXTEND));

    // retract catapult pistons
    addSequential(new ResetCatapult());

  }
}