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 edu.wpi.first.wpilibj.command.CommandGroup;
   4
   5 /***
   6  * This command will drive the robot through the low bar.
   7  *
   8  * dependency on sensors: encoders
   9  * dependency on subsystems: drivetrain
  10  * dependency on other commands: DriveForDist
  11  *
  12  * pre-condition: robot is flush against the ramp of the outerworks in front of
  13  * the low bar
  14  *
  15  * post-condition: the robot has passed the low bar and is in the next zone
  16  *
  17  * @author Meryem and Avi
  18  *
  19  */
  20
  21 public class PassLowBar extends CommandGroup {
  22
  23   private final double DISTANCE = 4.0;
  24   private final double DEFAULT_SPEED = 0.5;
  25
  26   public PassLowBar() {
  27     // TODO: need to add sequential for retracting the arms and shooting hood once those commands are made
  28     addSequential(new DriveForDistance(DISTANCE, DEFAULT_SPEED));
  29   }
  30
  31   public PassLowBar(double speed) {
  32     addSequential(new DriveForDistance(DISTANCE, speed));
  33   }
  34 }