| 1 | package org.usfirst.frc.team3501.robot.commands.auton; |
| 2 | |
| 3 | import org.usfirst.frc.team3501.robot.Constants; |
| 4 | import org.usfirst.frc.team3501.robot.commands.driving.DriveDistance; |
| 5 | import org.usfirst.frc.team3501.robot.commands.driving.DriveForTime; |
| 6 | |
| 7 | import edu.wpi.first.wpilibj.command.CommandGroup; |
| 8 | |
| 9 | /*** |
| 10 | * This command will drive the robot through the rampart. |
| 11 | * |
| 12 | * dependency on subsystems: drivetrain |
| 13 | * |
| 14 | * dependency on other commands: DriveForTime |
| 15 | * |
| 16 | * pre-condition: robot is flush against the ramp of the outerworks in front of |
| 17 | * the rampart |
| 18 | * |
| 19 | * post-condition: the robot has passed the rampart and is in the next zone |
| 20 | * |
| 21 | * @author Meryem and Avi |
| 22 | * |
| 23 | */ |
| 24 | |
| 25 | public class PassRampart extends CommandGroup { |
| 26 | |
| 27 | public PassRampart() { |
| 28 | |
| 29 | if (Constants.Auton.isUsingTime) { |
| 30 | addSequential(new DriveForTime(Constants.Auton.passRockWallTime, |
| 31 | Constants.Auton.passRockWallSpeed)); |
| 32 | } |
| 33 | else { |
| 34 | addSequential(new DriveDistance( |
| 35 | Constants.Auton.passRampartDistance, |
| 36 | Constants.DriveTrain.PASS_DEFENSE_TIMEOUT)); |
| 37 | } |
| 38 | |
| 39 | } |
| 40 | |
| 41 | } |