add constants and sequentials for position 3

[3501/stronghold-2016] / src / org / usfirst / frc / team3501 / robot / commands / AlignToScore.java

diff --git a/src/org/usfirst/frc/team3501/robot/commands/AlignToScore.java b/src/org/usfirst/frc/team3501/robot/commands/AlignToScore.java
index 8285a95c326f7f394b52c62874c73e0589049cd3..012ffad6d68cf39b06b99ab757334cee481202fc 100755 (executable)
--- a/src/org/usfirst/frc/team3501/robot/commands/AlignToScore.java
+++ b/src/org/usfirst/frc/team3501/robot/commands/AlignToScore.java
@@ -28,6 +28,11 @@ public class AlignToScore extends CommandGroup {
   private final double POS2_DIST2 = 0;
 
   // constants for position 3
+  private final double POS3_DIST1 = 0;
+  private final double POS3_TURN1 = 0;
+  private final double POS3_DIST2 = 0;
+  private final double POS3_TURN2 = 0;
+  private final double POS3_DIST3 = 0;
 
   // constants for position 4
 
@@ -40,19 +45,24 @@ public class AlignToScore extends CommandGroup {
     // position 1 is always the low bar
     case 1:
 
-      addSequential(new DriveForDistance(POS2_DIST1, DEFAULT_SPEED));
-      addSequential(new TurnForAngle(POS2_TURN1));
-      addSequential(new DriveForDistance(POS2_DIST2, DEFAULT_SPEED));
-
-    case 2:
-
       addSequential(new DriveForDistance(POS1_DIST1, DEFAULT_SPEED));
       addSequential(new TurnForAngle(POS1_TURN1));
       addSequential(new DriveForDistance(POS1_DIST2, DEFAULT_SPEED));
 
+    case 2:
+
+      addSequential(new DriveForDistance(POS2_DIST1, DEFAULT_SPEED));
+      addSequential(new TurnForAngle(POS2_TURN1));
+      addSequential(new DriveForDistance(POS2_DIST2, DEFAULT_SPEED));
+
     case 3:
 
-      addSequential();
+      addSequential(new DriveForDistance(POS3_DIST1, DEFAULT_SPEED));
+      addSequential(new TurnForAngle(POS3_TURN1));
+      addSequential(new DriveForDistance(POS3_DIST2, DEFAULT_SPEED));
+      addSequential(new TurnForAngle(POS3_TURN2));
+      addSequential(new DriveForDistance(POS3_DIST3, DEFAULT_SPEED));
+      ;
 
     case 4: