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

   1 package org.usfirst.frc.team3501.robot.commands.shooter;
   2
   3 import org.usfirst.frc.team3501.robot.Constants.IntakeArm;
   4 import org.usfirst.frc.team3501.robot.Constants.Shooter;
   5 import org.usfirst.frc.team3501.robot.commands.intakearm.MoveIntakeArm;
   6 import org.usfirst.frc.team3501.robot.commands.intakearm.TimeRunIntake;
   7
   8 import edu.wpi.first.wpilibj.command.CommandGroup;
   9 import edu.wpi.first.wpilibj.command.WaitCommand;
  10
  11 /**
  12  * This command group performs the sequence of steps to shoot at the high goal
  13  *
  14  * pre-conditions: a ball is in the intake
  15  *
  16  * post-conditions: catapult is retracted, intake is extended
  17  */
  18 public class ShootAtHighGoal extends CommandGroup {
  19   // TODO: test for this
  20   private static final double WAIT_SECONDS = 1.0;
  21
  22   public ShootAtHighGoal() {
  23
  24     // make sure intake is in up position
  25     addSequential(new MoveIntakeArm(IntakeArm.RETRACT));
  26
  27     addSequential(new WaitCommand(WAIT_SECONDS));
  28
  29     // get ball onto catapult
  30     addSequential(new TimeRunIntake(Shooter.TIME_FOR_BALL_TO_CATAPULT_ROLLING));
  31
  32     addSequential(new WaitCommand(WAIT_SECONDS));
  33
  34     // shoot catapult pistons
  35     addSequential(new FireCatapult());
  36
  37     addSequential(new WaitCommand(WAIT_SECONDS));
  38
  39     // extend intake (ball actually shoots here)
  40     addSequential(new MoveIntakeArm(IntakeArm.EXTEND));
  41
  42     addSequential(new WaitCommand(WAIT_SECONDS));
  43
  44     // retract catapult pistons
  45     addSequential(new ResetCatapult());
  46
  47     //
  48   }
  49 }