add constants same format as meryem did to constants and also add time dead reckoning

[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 ec5a11d59e9feacbb9ad8930699ad50cd3aefef9..31fb261e576f0a9748769a1bfa7dd3d5f94b1aee 100755 (executable)
--- a/src/org/usfirst/frc/team3501/robot/commands/shooter/Shoot.java
+++ b/src/org/usfirst/frc/team3501/robot/commands/shooter/Shoot.java
@@ -1,30 +1,29 @@
 package org.usfirst.frc.team3501.robot.commands.shooter;
 
-import edu.wpi.first.wpilibj.command.Command;
-
-public class Shoot extends Command {
-
-       public Shoot() {
-       }
-
-       @Override
-       protected void initialize() {
-       }
-
-       @Override
-       protected void execute() {
-       }
-
-       @Override
-       protected boolean isFinished() {
-               return false;
-       }
-
-       @Override
-       protected void end() {
-       }
-
-       @Override
-       protected void interrupted() {
-       }
+import org.usfirst.frc.team3501.robot.Robot;
+
+import edu.wpi.first.wpilibj.command.CommandGroup;
+import edu.wpi.first.wpilibj.command.WaitCommand;
+
+public class Shoot extends CommandGroup {
+
+  public boolean usePhotogate;
+
+  public Shoot() {
+    addSequential(new WaitCommand(3.0));
+    addSequential(new runShooter());
+    addSequential(new WaitCommand(3.0));
+    if (Robot.shooter.usePhotogate()) {
+      if (Robot.shooter.isBallInside()) {
+        addSequential(new ExtendPunch());
+        addSequential(new WaitCommand(5.0));
+        addSequential(new RetractPunch());
+      }
+    } else {
+      addSequential(new ExtendPunch());
+      addSequential(new WaitCommand(5.0));
+      addSequential(new RetractPunch());
+    }
+
+  }
 }