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.commands.driving.DriveForTime;
   4
   5 import edu.wpi.first.wpilibj.command.CommandGroup;
   6
   7 /***
   8  * This command will drive the robot through the moat.
   9  *
  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.
  12  *
  13  * dependency on subsystem: drivetrain
  14  *
  15  * dependency on other commands: DriveForTime
  16  *
  17  * pre-condition: robot is flush against the ramp of the outerworks in front of
  18  * the moat
  19  *
  20  * post-condition: the robot has passed the moat and is in the next zone
  21  *
  22  * @author Meryem and Avi
  23  *
  24  */
  25
  26 public class PassMoat extends CommandGroup {
  27
  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;
  34
  35   public PassMoat() {
  36     addSequential(new DriveForTime(BEG_TIME, BEG_SPEED));
  37     addSequential(new DriveForTime(MID_TIME, MID_SPEED));
  38     addSequential(new DriveForTime(END_TIME, END_SPEED));
  39
  40   }
  41 }