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.Robot;
   5 import org.usfirst.frc.team3501.robot.commands.intakearm.MoveIntakeArm;
   6
   7 import edu.wpi.first.wpilibj.command.CommandGroup;
   8
   9 /**
  10  * This command group performs the sequence of steps to shoot at the high goal
  11  *
  12  * pre-conditions: a ball is in the intake, and the intake is in the up position
  13  *
  14  * post-conditions: catapult is retracted, intake is extended
  15  */
  16 public class ShootAtHighGoal extends CommandGroup {
  17
  18   public ShootAtHighGoal() {
  19     // (if photogate) check if ball is in intake
  20
  21     // make sure intake is in up position and change accordingly
  22     if (!Robot.intakeArm.isExtended())
  23       addSequential(new MoveIntakeArm(IntakeArm.RETRACT));
  24
  25     // shoot catapult pistons
  26     addSequential(new FireCatapult());
  27
  28     // extend intake (ball actually shoots here)
  29     addSequential(new MoveIntakeArm(IntakeArm.EXTEND));
  30
  31     // retract catapult pistons
  32     addSequential(new ResetCatapult());
  33
  34   }
  35 }