challenge-bot.com Git - 3501/stronghold-2016/blob - src/org/usfirst/frc/team3501/robot/commands/auton/PassRampart.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 rampart.
  11  *
  12  * dependency on subsystems: drivetrain
  13  *
  14  * dependency on other commands: DriveForTime
  15  *
  16  * pre-condition: robot is flush against the ramp of the outerworks in front of
  17  * the rampart
  18  *
  19  * post-condition: the robot has passed the rampart and is in the next zone
  20  *
  21  * @author Meryem and Avi
  22  *
  23  */
  24
  25 public class PassRampart extends CommandGroup {
  26
  27   public PassRampart() {
  28
  29     if (Constants.Auton.isUsingTimeToPassDefense) {
  30       addSequential(new DriveForTime(Constants.Auton.passRockWallTime,
  31           Constants.Auton.passRockWallSpeed));
  32     }
  33     else {
  34       addSequential(new DriveDistance(
  35           Constants.Auton.passRampartDistance,
  36           Constants.DriveTrain.PASS_DEFENSE_TIMEOUT));
  37     }
  38
  39   }
  40
  41 }