add command to close hood on Compactrobot, and implement compactRobot when scaling

diff --git a/src/org/usfirst/frc/team3501/robot/commands/auton/CompactRobot.java b/src/org/usfirst/frc/team3501/robot/commands/auton/CompactRobot.java
index 6e3e59ae7d60bcb60746c21d0feebf88aaa5349b..b1102d13fe2f4e860677b0ba8391ca484b66de8e 100644 (file)
--- a/src/org/usfirst/frc/team3501/robot/commands/auton/CompactRobot.java
+++ b/src/org/usfirst/frc/team3501/robot/commands/auton/CompactRobot.java
@@ -1,5 +1,6 @@
 package org.usfirst.frc.team3501.robot.commands.auton;
 
+import org.usfirst.frc.team3501.robot.Robot;
 import org.usfirst.frc.team3501.robot.commands.intakearm.MoveIntakeArmToAngle;
 import org.usfirst.frc.team3501.robot.subsystems.IntakeArm;
 
@@ -11,8 +12,8 @@ import edu.wpi.first.wpilibj.command.CommandGroup;
 public class CompactRobot extends CommandGroup {
 
   public CompactRobot() {
-    addParallel(new MoveIntakeArmToAngle(IntakeArm.potAngles[3],
+    addSequential(new MoveIntakeArmToAngle(IntakeArm.potAngles[3],
         IntakeArm.moveIntakeArmSpeed));
-
+    Robot.shooter.closeHood();
   }
 }

diff --git a/src/org/usfirst/frc/team3501/robot/commands/scaler/ToggleScaling.java b/src/org/usfirst/frc/team3501/robot/commands/scaler/ToggleScaling.java
index a3ee9d4f02bb9c4b59485815ba1c5f2367672234..5f5a64ccb2e8e1d5016c48d8fc03ce52ac37538f 100644 (file)
--- a/src/org/usfirst/frc/team3501/robot/commands/scaler/ToggleScaling.java
+++ b/src/org/usfirst/frc/team3501/robot/commands/scaler/ToggleScaling.java
@@ -1,35 +1,14 @@
 package org.usfirst.frc.team3501.robot.commands.scaler;
 
 import org.usfirst.frc.team3501.robot.Constants;
+import org.usfirst.frc.team3501.robot.commands.auton.CompactRobot;
 
-import edu.wpi.first.wpilibj.command.Command;
+import edu.wpi.first.wpilibj.command.CommandGroup;
 
-public class ToggleScaling extends Command {
+public class ToggleScaling extends CommandGroup {
   public ToggleScaling() {
-
-  }
-
-  @Override
-  protected void initialize() {
     Constants.Scaler.SCALING = !Constants.Scaler.SCALING;
-  }
-
-  @Override
-  protected void execute() {
-
-  }
-
-  @Override
-  protected boolean isFinished() {
-    return true;
-  }
-
-  @Override
-  protected void end() {
-  }
-
-  @Override
-  protected void interrupted() {
-    end();
+    if (Constants.Scaler.SCALING)
+      addSequential(new CompactRobot());
   }
 }