| 1 | package org.usfirst.frc.team3501.robot.commands; |
| 2 | |
| 3 | import org.usfirst.frc.team3501.robot.Constants.Defense; |
| 4 | |
| 5 | import edu.wpi.first.wpilibj.command.CommandGroup; |
| 6 | |
| 7 | /** |
| 8 | * The default autonomous strategy involves passing the defense that is in front |
| 9 | * of it, aiming the robot/ shooter towards the goal, and shooting. |
| 10 | */ |
| 11 | public class DefaultAutonStrategy extends CommandGroup { |
| 12 | |
| 13 | public DefaultAutonStrategy(int position, Defense defense) { |
| 14 | /* |
| 15 | * pass defense drive forward do what has to be done to pass the defense |
| 16 | * drive forward aim face tower aim shooter toward goal shoot |
| 17 | */ |
| 18 | |
| 19 | // TODO: any variable that is not declared/instantiated are vars that need |
| 20 | // to be tested for their value |
| 21 | |
| 22 | switch (defense) { |
| 23 | case PORTCULLIS: |
| 24 | // we are assuming that the robot is also driving forward as the |
| 25 | // portcullis is being lifted |
| 26 | addSequential(new LiftPortcullis()); |
| 27 | case SALLY_PORT: |
| 28 | // addSequential(); |
| 29 | case ROUGH_TERRAIN: |
| 30 | |
| 31 | addSequential(new DriveForDistance(distance, speed)); |
| 32 | |
| 33 | case LOW_BAR: |
| 34 | |
| 35 | addSequential(new DriveForDistance(distance, speed)); |
| 36 | |
| 37 | case CHEVAL_DE_FRISE: |
| 38 | |
| 39 | addSequential(new LowerChevalDeFrise()); |
| 40 | |
| 41 | case DRAWBRIDGE: |
| 42 | |
| 43 | addSequential(new LowerDrawBridge()); |
| 44 | |
| 45 | case MOAT: |
| 46 | |
| 47 | addSequential(new DriveForDistance(distance, speed)); |
| 48 | |
| 49 | case ROCK_WALL: |
| 50 | |
| 51 | addSequential(new DriveForDistance(distance, speed)); |
| 52 | |
| 53 | case RAMPART: |
| 54 | |
| 55 | addSequential(new DriveForDistance(distance, speed)); |
| 56 | |
| 57 | default: |
| 58 | break; |
| 59 | } |
| 60 | |
| 61 | } |
| 62 | |
| 63 | } |