1 package org
.usfirst
.frc
.team3501
.robot
.commands
.auton
;
3 import org
.usfirst
.frc
.team3501
.robot
.commands
.driving
.DriveForTime
;
5 import edu
.wpi
.first
.wpilibj
.command
.CommandGroup
;
8 * This command will drive the robot through the moat.
10 * The code drives the robot for a specific time at a specific speed up the ramp
11 * to the defense then drive over the defense at a different speed and time.
13 * dependency on subsystem: drivetrain
15 * dependency on other commands: DriveForTime
17 * pre-condition: robot is flush against the ramp of the outerworks in front of
20 * post-condition: the robot has passed the moat and is in the next zone
22 * @author Meryem and Avi
26 public class PassMoat
extends CommandGroup
{
28 private final double BEG_TIME
= 0;
29 private final double MID_TIME
= 0;
30 private final double END_TIME
= 0;
31 private final double BEG_SPEED
= 0;
32 private final double MID_SPEED
= 0;
33 private final double END_SPEED
= 0;
36 addSequential(new DriveForTime(BEG_TIME
, BEG_SPEED
));
37 addSequential(new DriveForTime(MID_TIME
, MID_SPEED
));
38 addSequential(new DriveForTime(END_TIME
, END_SPEED
));