challenge-bot.com Git - 3501/stronghold-2016/blob - src/org/usfirst/frc/team3501/robot/commands/auton/PassLowBar.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.commands.driving.DriveDistance;
   5 import org.usfirst.frc.team3501.robot.commands.driving.DriveForTime;
   6
   7 import edu.wpi.first.wpilibj.command.CommandGroup;
   8
   9 /***
  10  * This command will drive the robot through the low bar.
  11  *
  12  * dependency on sensors: encoders
  13  * dependency on subsystems: drivetrain
  14  * dependency on other commands: DriveForDist
  15  *
  16  * pre-condition: robot is flush against the ramp of the outerworks in front of
  17  * the low bar
  18  *
  19  * post-condition: the robot has passed the low bar and is in the next zone
  20  *
  21  * @author Meryem and Avi
  22  *
  23  */
  24
  25 public class PassLowBar extends CommandGroup {
  26
  27   public PassLowBar() {
  28     if (Constants.Auton.isUsingTime) {
  29       addSequential(new DriveForTime(Constants.Auton.passLowBarTime,
  30           Constants.Auton.passLowBarSpeed));
  31     }
  32     else {
  33       addSequential(new DriveDistance(
  34           Constants.Auton.passLowBarDistance,
  35           Constants.DriveTrain.PASS_DEFENSE_TIMEOUT));
  36     }
  37   }
  38 }