780589171246a4c9b556ee3887349adc7022cb4d
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 rampart.
12 * dependency on subsystems: drivetrain
14 * dependency on other commands: DriveForTime
16 * pre-condition: robot is flush against the ramp of the outerworks in front of
19 * post-condition: the robot has passed the rampart and is in the next zone
21 * @author Meryem and Avi
25 public class PassRampart
extends CommandGroup
{
27 public PassRampart() {
29 if (Constants
.Auton
.IS_USING_TIME
) {
30 addSequential(new DriveForTime(Constants
.Auton
.PASS_ROCK_WALL_TIME
,
31 Constants
.Auton
.passRockWallSpeed
));
34 addSequential(new DriveDistance(
35 Constants
.Auton
.PASS_RAMPART_DIST
,
36 Constants
.DriveTrain
.PASS_DEFENSE_TIMEOUT
));