1 package org
.usfirst
.frc
.team3501
.robot
.commands
.auton
;
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
;
7 import edu
.wpi
.first
.wpilibj
.command
.CommandGroup
;
10 * This command will drive the robot through the moat.
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.
15 * dependency on subsystem: drivetrain
17 * dependency on other commands: DriveForTime
19 * pre-condition: robot is flush against the ramp of the outerworks in front of
22 * post-condition: the robot has passed the moat and is in the next zone
24 * @author Meryem and Avi
28 public class PassMoat
extends CommandGroup
{
31 if (Constants
.Auton
.isUsingTime
) {
32 addSequential(new DriveForTime(Constants
.Auton
.passMoatTime
,
33 Constants
.Auton
.passMoatSpeed
));
36 addSequential(new DriveDistance(Constants
.Auton
.passMoatDistance
,
37 Constants
.DriveTrain
.PASS_DEFENSE_TIMEOUT
));