challenge-bot.com Git - 3501/stronghold-2016/blob - src/org/usfirst/frc/team3501/robot/commands/DefaultAutonStrategy.java

   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 }