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 = 1.0;
  18
  19   public ShootAtHighGoal() {
  20
  21     // make sure intake is in up position
  22     addSequential(new MoveIntakeArm(IntakeArm.RETRACT));
  23
  24     addSequential(new WaitCommand(WAIT_SECONDS));
  25
  26     // get ball onto catapult
  27
  28     // shoot catapult pistons
  29     addSequential(new FireCatapult());
  30
  31     addSequential(new WaitCommand(WAIT_SECONDS));
  32
  33     // extend intake (ball actually shoots here)
  34     addSequential(new MoveIntakeArm(IntakeArm.EXTEND));
  35
  36     addSequential(new WaitCommand(WAIT_SECONDS));
  37
  38     // wait a bit
  39     addSequential(new WaitCommand(WAIT_SECONDS));
  40
  41     // retract catapult pistons
  42     addSequential(new ResetCatapult());
  43
  44     //
  45   }
  46 }