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Change shooter to function off of two pistons, remove punch, shooter motors, and...
[3501/stronghold-2016]
/
src
/
org
/
usfirst
/
frc
/
team3501
/
robot
/
commands
/
shooter
/
Shoot.java
diff --git
a/src/org/usfirst/frc/team3501/robot/commands/shooter/Shoot.java
b/src/org/usfirst/frc/team3501/robot/commands/shooter/Shoot.java
index 31fb261e576f0a9748769a1bfa7dd3d5f94b1aee..0b80c1d9c349f7d8b0ddcde6d0bd936e2f632f26 100755
(executable)
--- a/
src/org/usfirst/frc/team3501/robot/commands/shooter/Shoot.java
+++ b/
src/org/usfirst/frc/team3501/robot/commands/shooter/Shoot.java
@@
-1,5
+1,6
@@
package org.usfirst.frc.team3501.robot.commands.shooter;
package org.usfirst.frc.team3501.robot.commands.shooter;
+import org.usfirst.frc.team3501.robot.Constants;
import org.usfirst.frc.team3501.robot.Robot;
import edu.wpi.first.wpilibj.command.CommandGroup;
import org.usfirst.frc.team3501.robot.Robot;
import edu.wpi.first.wpilibj.command.CommandGroup;
@@
-9,21
+10,24
@@
public class Shoot extends CommandGroup {
public boolean usePhotogate;
public boolean usePhotogate;
+ /**
+ * Fires catapult, then resets after a pause. If robot is set to use photogate
+ * and no ball is detected, nothing happens.
+ *
+ * Precondition: catapult is in reset position, and ball is loaded in
+ * catapult.
+ */
public Shoot() {
public Shoot() {
- addSequential(new WaitCommand(3.0));
- addSequential(new runShooter());
- addSequential(new WaitCommand(3.0));
if (Robot.shooter.usePhotogate()) {
if (Robot.shooter.isBallInside()) {
if (Robot.shooter.usePhotogate()) {
if (Robot.shooter.isBallInside()) {
- addSequential(new
ExtendPunch
());
- addSequential(new WaitCommand(
5.0
));
- addSequential(new Re
tractPunch
());
+ addSequential(new
FireCatapult
());
+ addSequential(new WaitCommand(
Constants.Shooter.WAIT_TIME
));
+ addSequential(new Re
setCatapult
());
}
} else {
}
} else {
- addSequential(new
ExtendPunch
());
- addSequential(new WaitCommand(
5.0
));
- addSequential(new Re
tractPunch
());
+ addSequential(new
FireCatapult
());
+ addSequential(new WaitCommand(
Constants.Shooter.WAIT_TIME
));
+ addSequential(new Re
setCatapult
());
}
}
-
}
}
}
}