1 package org
.usfirst
.frc
.team3501
.robot
.commands
;
3 import edu
.wpi
.first
.wpilibj
.command
.CommandGroup
;
6 * This command group will be used in autonomous. Based on what position the
7 * robot is in, the robot will align with the goal
9 * pre-condition: robot is flush against a defense at the specified position in
10 * the opponent's courtyard
12 * post-condition: the robot is parallel to one of the three goals and the
13 * shooter is facing that goal
16 public class AlignToScore
extends CommandGroup
{
17 private final double DEFAULT_SPEED
= 0.5;
18 // constants for position 1: low bar
20 private final double POS1_DIST1
= 0;
21 private final double POS1_TURN1
= 0;
22 private final double POS1_DIST2
= 0;
24 // constants for position 2
26 // constants for position 3
28 // constants for position 4
30 // constants for position 5
32 public AlignToScore(int position
) {
36 // position 1 is always the low bar
39 addSequential(new DriveForDistance(POS1_DIST1
, DEFAULT_SPEED
));
40 addSequential(new TurnForAngle(POS1_TURN1
));
41 addSequential(new DriveForDistance(POS1_DIST2
, DEFAULT_SPEED
));