fix wait commands

diff --git a/src/org/usfirst/frc/team3501/robot/Constants.java b/src/org/usfirst/frc/team3501/robot/Constants.java
index 2fcbabe5122a07f02b0fb63b1f914d7f5ea79fa9..fe96c4b94a44d6344a00f1766666338832527689 100644 (file)
--- a/src/org/usfirst/frc/team3501/robot/Constants.java
+++ b/src/org/usfirst/frc/team3501/robot/Constants.java
@@ -88,7 +88,6 @@ public class Constants {
     public static final double WAIT_TIME = 2.0; // In seconds
 
     // TODO: test for this time
-    public static final double TIME_FOR_BALL_TO_CATAPULT_ROLLING = 1.0;
 
   }
 

diff --git a/src/org/usfirst/frc/team3501/robot/commands/shooter/ShootAtHighGoal.java b/src/org/usfirst/frc/team3501/robot/commands/shooter/ShootAtHighGoal.java
index 1f21e2fb84d1cfccb5cc09869505a83a8844e2c7..bb61604127cc4fa6393dcc61f060f150c03dc4de 100755 (executable)
--- a/src/org/usfirst/frc/team3501/robot/commands/shooter/ShootAtHighGoal.java
+++ b/src/org/usfirst/frc/team3501/robot/commands/shooter/ShootAtHighGoal.java
@@ -1,7 +1,6 @@
 package org.usfirst.frc.team3501.robot.commands.shooter;
 
 import org.usfirst.frc.team3501.robot.Constants.IntakeArm;
-import org.usfirst.frc.team3501.robot.Constants.Shooter;
 import org.usfirst.frc.team3501.robot.commands.intakearm.MoveIntakeArm;
 import org.usfirst.frc.team3501.robot.commands.intakearm.TimeRunIntake;
 
@@ -16,8 +15,8 @@ import edu.wpi.first.wpilibj.command.WaitCommand;
  * post-conditions: catapult is retracted, intake is extended
  */
 public class ShootAtHighGoal extends CommandGroup {
-  // TODO: test for this
-  private static final double WAIT_SECONDS = 1.0;
+  private static final double WAIT_SECONDS = 0.4;
+  private static final double TIME_FOR_BALL_TO_CATAPULT_ROLLING = 1.0;
 
   public ShootAtHighGoal() {
 
@@ -27,9 +26,7 @@ public class ShootAtHighGoal extends CommandGroup {
     addSequential(new WaitCommand(WAIT_SECONDS));
 
     // get ball onto catapult
-    addSequential(new TimeRunIntake(Shooter.TIME_FOR_BALL_TO_CATAPULT_ROLLING));
-
-    addSequential(new WaitCommand(WAIT_SECONDS));
+    addSequential(new TimeRunIntake(TIME_FOR_BALL_TO_CATAPULT_ROLLING));
 
     // shoot catapult pistons
     addSequential(new FireCatapult());