challenge-bot.com Git - 3501/stronghold-2016/blob - src/org/usfirst/frc/team3501/robot/commands/auton/PassMoat.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 moat.
  11  *
  12  * The code drives the robot for a specific time at a specific speed up the ramp
  13  * to the defense then drive over the defense at a different speed and time.
  14  *
  15  * dependency on subsystem: drivetrain
  16  *
  17  * dependency on other commands: DriveForTime
  18  *
  19  * pre-condition: robot is flush against the ramp of the outerworks in front of
  20  * the moat
  21  *
  22  * post-condition: the robot has passed the moat and is in the next zone
  23  *
  24  * @author Meryem and Avi
  25  *
  26  */
  27
  28 public class PassMoat extends CommandGroup {
  29
  30   public PassMoat() {
  31     if (Constants.Auton.isUsingTimeToPassDefense) {
  32       addSequential(new DriveForTime(Constants.Auton.passMoatTime,
  33           Constants.Auton.passMoatSpeed));
  34     }
  35     else {
  36       addSequential(new DriveDistance(Constants.Auton.passMoatDistance,
  37           Constants.DriveTrain.PASS_DEFENSE_TIMEOUT));
  38     }
  39
  40   }
  41 }