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

   1 package org.usfirst.frc.team3501.robot.commands.auton;
   2
   3 import org.usfirst.frc.team3501.robot.Constants.Auton;
   4 import org.usfirst.frc.team3501.robot.Constants.Defense;
   5 import org.usfirst.frc.team3501.robot.commands.shooter.Shoot;
   6
   7 import edu.wpi.first.wpilibj.command.CommandGroup;
   8 import edu.wpi.first.wpilibj.command.WaitCommand;
   9
  10 public class ChooseStrategy extends CommandGroup {
  11
  12   public ChooseStrategy(int position, Defense defense) {
  13
  14     if (defense == Defense.PORTCULLIS)
  15       addSequential(new PassPortcullis());
  16
  17     else if (defense == Defense.CHIVAL_DE_FRISE)
  18       addSequential(new PassChivalDeFrise());
  19
  20     else if (defense == Defense.MOAT)
  21       addSequential(new PassMoat());
  22
  23     else if (defense == Defense.ROCK_WALL)
  24       addSequential(new PassRockWall());
  25
  26     else if (defense == Defense.DRAWBRIDGE)
  27       addSequential(new PassDrawbridge());
  28
  29     else if (defense == Defense.SALLY_PORT)
  30       addSequential(new PassSallyPort());
  31
  32     else if (defense == Defense.RAMPART)
  33       addSequential(new PassRampart());
  34
  35     else if (defense == Defense.ROUGH_TERRAIN)
  36       addSequential(new PassRoughTerrain());
  37
  38     else if (defense == Defense.LOW_BAR)
  39       addSequential(new PassLowBar());
  40
  41     addSequential(new AlignToScore(position));
  42     // TODO: test for how long robot should wait
  43     addSequential(new WaitCommand(Auton.WAIT_TIME));
  44     addSequential(new Shoot());
  45
  46   }
  47 }