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.commands.intakearm.MoveIntakeArm;
   5
   6 import edu.wpi.first.wpilibj.command.CommandGroup;
   7 import edu.wpi.first.wpilibj.command.WaitCommand;
   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
  13  *
  14  * post-conditions: catapult is retracted, intake is extended
  15  */
  16 public class ShootAtHighGoal extends CommandGroup {
  17   private static final double WAIT_SECONDS = 0.4;
  18
  19   public ShootAtHighGoal() {
  20     // make sure catapult is down
  21     addSequential(new ResetCatapult());
  22
  23     // make sure intake is in up position
  24     addSequential(new MoveIntakeArm(IntakeArm.RETRACT));
  25
  26     // shoot catapult pistons
  27     addSequential(new FireCatapult());
  28
  29     // extend intake (ball actually shoots here)
  30     addSequential(new MoveIntakeArm(IntakeArm.EXTEND));
  31
  32     // wait a bit
  33     addSequential(new WaitCommand(WAIT_SECONDS));
  34
  35     // retract catapult pistons
  36     addSequential(new ResetCatapult());
  37
  38   }
  39 }