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

   1 package org.usfirst.frc.team3501.robot.commands;
   2
   3 import edu.wpi.first.wpilibj.command.CommandGroup;
   4
   5 /***
   6  * This command will drive the robot through the moat.
   7  *
   8  * The code drives the robot for a specific time at a specific speed up the ramp
   9  * to the defense then drive over the defense at a different speed and time.
  10  *
  11  * dependency on subsystem: drivetrain
  12  *
  13  * dependency on other commands: DriveForTime
  14  *
  15  * pre-condition: robot is flush against the ramp of the outerworks in front of
  16  * the moat
  17  *
  18  * post-condition: the robot has passed the moat and is in the next zone
  19  *
  20  * @author Meryem and Avi
  21  *
  22  */
  23
  24 public class PassMoat extends CommandGroup {
  25
  26   private final double BEG_TIME = 0;
  27   private final double MID_TIME = 0;
  28   private final double END_TIME = 0;
  29   private final double BEG_SPEED = 0;
  30   private final double MID_SPEED = 0;
  31   private final double END_SPEED = 0;
  32
  33   public PassMoat() {
  34     addSequential(new DriveForTime(BEG_TIME, BEG_SPEED));
  35     addSequential(new DriveForTime(MID_TIME, MID_SPEED));
  36     addSequential(new DriveForTime(END_TIME, END_SPEED));
  37
  38   }
  39 }