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 import org.usfirst.frc.team3501.robot.Robot;
   3 import org.usfirst.frc.team3501.robot.commands.auton.AimAndAlign;
   4
   5 import edu.wpi.first.wpilibj.command.CommandGroup;
   6 import edu.wpi.first.wpilibj.command.WaitCommand;
   7
   8 public class Shoot extends CommandGroup {
   9
  10   public boolean usePhotogate;
  11
  12   public Shoot() {
  13     addSequential(new AimAndAlign());
  14     addSequential(new WaitCommand(3.0));
  15     addSequential(new runShooter());
  16     addSequential(new WaitCommand(3.0));
  17     if (Robot.shooter.usePhotogate()) {
  18       if (Robot.shooter.isBallInside()) {
  19         addSequential(new ExtendPunch());
  20         addSequential(new WaitCommand(5.0));
  21         addSequential(new RetractPunch());
  22       }
  23     } else {
  24       addSequential(new ExtendPunch());
  25       addSequential(new WaitCommand(5.0));
  26       addSequential(new RetractPunch());
  27     }
  28
  29   }
  30 }