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
   9 /**
  10  * The default autonomous strategy involves passing the defense that is in front
  11  * of it, aiming the robot/ shooter towards the goal, and shooting.
  12  */
  13
  14 public class DefaultAutonStrategy extends CommandGroup {
  15
  16   public DefaultAutonStrategy(int position, Defense defense) {
  17
  18     if (defense == Constants.Defense.PORTCULLIS)
  19       addSequential(new LiftPortcullis());
  20
  21     else if (defense == Constants.Defense.SALLY_PORT)
  22       addSequential(new PassSallyPort());
  23
  24     else if (defense == Constants.Defense.ROUGH_TERRAIN)
  25       addSequential(new PassRoughTerrain());
  26
  27     else if (defense == Constants.Defense.LOW_BAR)
  28       addSequential(new PassLowBar());
  29
  30     else if (defense == Constants.Defense.CHEVAL_DE_FRISE)
  31       addSequential(new PassChevalDeFrise());
  32
  33     else if (defense == Constants.Defense.DRAWBRIDGE)
  34       addSequential(new PassDrawBridge());
  35
  36     else if (defense == Constants.Defense.MOAT)
  37       addSequential(new PassMoat());
  38
  39     else if (defense == Constants.Defense.ROCK_WALL)
  40       addSequential(new PassRockWall());
  41
  42     else if (defense == Constants.Defense.RAMPART)
  43       addSequential(new PassRampart());
  44
  45     addSequential(new AimAndAlign());
  46     addSequential(new Shoot());
  47
  48   }
  49
  50 }