use wait command and move if statements from shoot at high goal to resetcatapult

diff --git a/src/org/usfirst/frc/team3501/robot/commands/shooter/ResetCatapult.java b/src/org/usfirst/frc/team3501/robot/commands/shooter/ResetCatapult.java
index 3c46bf4dfcf757e1e651bdf7a665d49822e6a458..0651ce8f1b04582c7255b052c854d8cc4231a501 100644 (file)
--- a/src/org/usfirst/frc/team3501/robot/commands/shooter/ResetCatapult.java
+++ b/src/org/usfirst/frc/team3501/robot/commands/shooter/ResetCatapult.java
@@ -5,6 +5,11 @@ import org.usfirst.frc.team3501.robot.Robot;
 
 import edu.wpi.first.wpilibj.command.Command;
 
+/***
+ *
+ * This command will retract the catapult pistons.
+ *
+ */
 public class ResetCatapult extends Command {
 
   public ResetCatapult() {

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 70817273d28a4fedf5bd3c17312b364a007a06ee..6d15cde8362194c3ca7ef19763a6a3f49929a827 100755 (executable)
--- a/src/org/usfirst/frc/team3501/robot/commands/shooter/ShootAtHighGoal.java
+++ b/src/org/usfirst/frc/team3501/robot/commands/shooter/ShootAtHighGoal.java
@@ -14,6 +14,7 @@ import edu.wpi.first.wpilibj.command.WaitCommand;
  * post-conditions: catapult is retracted, intake is extended
  */
 public class ShootAtHighGoal extends CommandGroup {
+  private static final double WAIT_SECONDS = 0.4;
 
   public ShootAtHighGoal() {
     // make sure catapult is down
@@ -29,7 +30,7 @@ public class ShootAtHighGoal extends CommandGroup {
     addSequential(new MoveIntakeArm(IntakeArm.EXTEND));
 
     // wait a bit
-    addSequential(new WaitCommand(1.0));
+    addSequential(new WaitCommand(WAIT_SECONDS));
 
     // retract catapult pistons
     addSequential(new ResetCatapult());

diff --git a/src/org/usfirst/frc/team3501/robot/subsystems/Shooter.java b/src/org/usfirst/frc/team3501/robot/subsystems/Shooter.java
index c3500e2ba27b644e309823556e7a45cfbdbddd1b..ef24614ddfc083b61357be289ee605a362d930f9 100755 (executable)
--- a/src/org/usfirst/frc/team3501/robot/subsystems/Shooter.java
+++ b/src/org/usfirst/frc/team3501/robot/subsystems/Shooter.java
@@ -34,6 +34,7 @@ public class Shooter extends Subsystem {
     catapult2.set(Constants.Shooter.SHOOT);
   }
 
+  // Retracts catapult pistons
   public void resetCatapult() {
     catapult1.set(Constants.Shooter.RESET);
     catapult2.set(Constants.Shooter.RESET);