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.commands.driving.DriveDistance;
   4
   5 import edu.wpi.first.wpilibj.command.CommandGroup;
   6
   7 /***
   8  * This command will drive the robot through the low bar.
   9  *
  10  * dependency on sensors: encoders
  11  * dependency on subsystems: drivetrain
  12  * dependency on other commands: DriveForDist
  13  *
  14  * pre-condition: robot is flush against the ramp of the outerworks in front of
  15  * the low bar
  16  *
  17  * post-condition: the robot has passed the low bar and is in the next zone
  18  *
  19  * @author Meryem and Avi
  20  *
  21  */
  22
  23 public class PassLowBar extends CommandGroup {
  24
  25   private final double DISTANCE = 4.0;
  26   private final double DEFAULT_SPEED = 0.5;
  27
  28   public PassLowBar() {
  29     // TODO: need to add sequential for retracting the arms and shooting hood
  30     // once those commands are made
  31     addSequential(new DriveDistance(DISTANCE, DEFAULT_SPEED));
  32   }
  33
  34   public PassLowBar(double speed) {
  35     addSequential(new DriveDistance(DISTANCE, speed));
  36   }
  37 }