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.Defense;
   4 import org.usfirst.frc.team3501.robot.commands.shooter.Shoot;
   5
   6 import edu.wpi.first.wpilibj.command.CommandGroup;
   7
   8 /**
   9  * The default autonomous strategy involves passing the defense that is in front
  10  * of it, aiming the robot/ shooter towards the goal, and shooting.
  11  */
  12
  13 public class DefaultAutonStrategy extends CommandGroup {
  14
  15   public DefaultAutonStrategy(int position, Defense defense) {
  16
  17     switch (defense) {
  18
  19     case PORTCULLIS:
  20
  21       addSequential(new LiftPortcullis());
  22
  23     case SALLY_PORT:
  24
  25       addSequential(new PassSallyPort());
  26
  27     case ROUGH_TERRAIN:
  28
  29       addSequential(new PassRoughTerrain());
  30
  31     case LOW_BAR:
  32
  33       addSequential(new PassLowBar());
  34
  35     case CHEVAL_DE_FRISE:
  36
  37       addSequential(new PassChevalDeFrise());
  38
  39     case DRAWBRIDGE:
  40
  41       addSequential(new PassDrawBridge());
  42
  43     case MOAT:
  44
  45       addSequential(new PassMoat());
  46
  47     case ROCK_WALL:
  48
  49       addSequential(new PassRockWall());
  50
  51     case RAMPART:
  52
  53       addSequential(new PassRampart());
  54
  55     default:
  56       break;
  57     }
  58
  59     addSequential(new AimAndAlign());
  60     addSequential(new Shoot());
  61
  62   }
  63
  64 }