package org.usfirst.frc.team3501.robot.commands.shooter;
+import org.usfirst.frc.team3501.robot.Constants.IntakeArm;
+import org.usfirst.frc.team3501.robot.Robot;
+import org.usfirst.frc.team3501.robot.commands.intakearm.MoveIntakeArm;
+
import edu.wpi.first.wpilibj.command.CommandGroup;
/**
* This command group performs the sequence of steps to shoot at the high goal
*
- * pre-conditions: the catapult is down, a ball is in the intake, and the intake
- * is in the up position
+ * pre-conditions: a ball is in the intake, and the intake is in the up position
*
* post-conditions: catapult is retracted, intake is extended
*/
public class ShootAtHighGoal extends CommandGroup {
public ShootAtHighGoal() {
- // check that the catapult is down and change accordingly
-
// (if photogate) check if ball is in intake
// make sure intake is in up position and change accordingly
+ if (!Robot.intakeArm.isExtended())
+ addSequential(new MoveIntakeArm(IntakeArm.RETRACT));
// shoot catapult pistons
+ addSequential(new FireCatapult());
// extend intake (ball actually shoots here)
+ addSequential(new MoveIntakeArm(IntakeArm.EXTEND));
// retract catapult pistons
+ addSequential(new ResetCatapult());
}
}