challenge-bot.com Git - 3501/stronghold-2016/blob - src/org/usfirst/frc/team3501/robot/commands/shooter/Shoot.java

   1 package org.usfirst.frc.team3501.robot.commands.shooter;
   2
   3 import org.usfirst.frc.team3501.robot.Constants;
   4 import org.usfirst.frc.team3501.robot.Robot;
   5
   6 import edu.wpi.first.wpilibj.command.CommandGroup;
   7 import edu.wpi.first.wpilibj.command.WaitCommand;
   8
   9 public class Shoot extends CommandGroup {
  10
  11   public boolean usePhotogate;
  12
  13   /**
  14    * Fires catapult, then resets after a pause. If robot is set to use photogate
  15    * and no ball is detected, nothing happens.
  16    *
  17    * Precondition: catapult is in reset position, and ball is loaded in
  18    * catapult.
  19    */
  20   public Shoot() {
  21     if (Robot.shooter.usePhotogate()) {
  22       if (Robot.shooter.isBallInside()) {
  23         addSequential(new FireCatapult());
  24         addSequential(new WaitCommand(Constants.Shooter.WAIT_TIME));
  25         addSequential(new ResetCatapult());
  26       }
  27     } else {
  28       addSequential(new FireCatapult());
  29       addSequential(new WaitCommand(Constants.Shooter.WAIT_TIME));
  30       addSequential(new ResetCatapult());
  31     }
  32   }
  33 }