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 import org.usfirst.frc.team3501.robot.commands.intakearm.TimeRunIntake;
   6
   7 import edu.wpi.first.wpilibj.command.CommandGroup;
   8 import edu.wpi.first.wpilibj.command.WaitCommand;
   9
  10 /**
  11  * This command group performs the sequence of steps to shoot at the high goal
  12  *
  13  * pre-conditions: a ball is in the intake
  14  *
  15  * post-conditions: catapult is retracted, intake is extended
  16  */
  17 public class ShootAtHighGoal extends CommandGroup {
  18   private static final double WAIT_SECONDS = 0.4;
  19   private static final double TIME_FOR_BALL_TO_CATAPULT_ROLLING = 1.0;
  20
  21   public ShootAtHighGoal() {
  22
  23     // make sure intake is in up position
  24     addSequential(new MoveIntakeArm(IntakeArm.RETRACT));
  25
  26     addSequential(new WaitCommand(WAIT_SECONDS));
  27
  28     // get ball onto catapult
  29     addSequential(new TimeRunIntake(TIME_FOR_BALL_TO_CATAPULT_ROLLING));
  30
  31     // shoot catapult pistons
  32     addSequential(new FireCatapult());
  33
  34     addSequential(new WaitCommand(WAIT_SECONDS));
  35
  36     // extend intake (ball actually shoots here)
  37     addSequential(new MoveIntakeArm(IntakeArm.EXTEND));
  38
  39     addSequential(new WaitCommand(WAIT_SECONDS));
  40
  41     // retract catapult pistons
  42     addSequential(new ResetCatapult());
  43
  44     //
  45   }
  46 }