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

   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.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 /**
  11  * The default autonomous strategy involves passing the defense that is in front
  12  * of it, aiming the robot/ shooter towards the goal, and shooting.
  13  */
  14
  15 public class DefaultAutonStrategy extends CommandGroup {
  16
  17   public DefaultAutonStrategy(int position, Defense defense) {
  18
  19     if (defense == Constants.Defense.PORTCULLIS)
  20       addSequential(new LiftPortcullis());
  21
  22     else if (defense == Constants.Defense.SALLY_PORT)
  23       addSequential(new PassSallyPort());
  24
  25     else if (defense == Constants.Defense.ROUGH_TERRAIN)
  26       addSequential(new PassRoughTerrain());
  27
  28     else if (defense == Constants.Defense.LOW_BAR)
  29       addSequential(new PassLowBar());
  30
  31     else if (defense == Constants.Defense.CHEVAL_DE_FRISE)
  32       addSequential(new PassChevalDeFrise());
  33
  34     else if (defense == Constants.Defense.DRAWBRIDGE)
  35       addSequential(new PassDrawBridge());
  36
  37     else if (defense == Constants.Defense.MOAT)
  38       addSequential(new PassMoat());
  39
  40     else if (defense == Constants.Defense.ROCK_WALL)
  41       addSequential(new PassRockWall());
  42
  43     else if (defense == Constants.Defense.RAMPART)
  44       addSequential(new PassRampart());
  45
  46     addSequential(new AlignToScore(position));
  47     addSequential(new WaitCommand(5.0));
  48     addSequential(new Shoot());
  49
  50   }
  51
  52 }