addSequential(new PassSallyPort());
else if (defense == Constants.Defense.ROUGH_TERRAIN)
- addSequential(new PassRoughTerrain());
+ addSequential(new PassRoughTerrainTime());
else if (defense == Constants.Defense.LOW_BAR)
- addSequential(new PassLowBar());
+ addSequential(new PassLowBarTime());
else if (defense == Constants.Defense.CHEVAL_DE_FRISE)
addSequential(new PassChevalDeFrise());
addSequential(new PassDrawBridge());
else if (defense == Constants.Defense.MOAT)
- addSequential(new PassMoat());
+ addSequential(new PassMoatDistance());
else if (defense == Constants.Defense.ROCK_WALL)
- addSequential(new PassRockWall());
+ addSequential(new PassRockWallDistance());
else if (defense == Constants.Defense.RAMPART)
- addSequential(new PassRampart());
+ addSequential(new PassRampartDistance());
addSequential(new AimAndAlign());
addSequential(new Shoot());
+++ /dev/null
-package org.usfirst.frc.team3501.robot.commands.auton;
-
-import org.usfirst.frc.team3501.robot.commands.driving.DriveDistance;
-
-import edu.wpi.first.wpilibj.command.CommandGroup;
-
-/***
- * This command will drive the robot through the low bar.
- *
- * dependency on sensors: encoders
- * dependency on subsystems: drivetrain
- * dependency on other commands: DriveForDist
- *
- * pre-condition: robot is flush against the ramp of the outerworks in front of
- * the low bar
- *
- * post-condition: the robot has passed the low bar and is in the next zone
- *
- * @author Meryem and Avi
- *
- */
-
-public class PassLowBar extends CommandGroup {
-
- private final double DISTANCE = 4.0;
- private final double DEFAULT_SPEED = 0.5;
-
- public PassLowBar() {
- // TODO: need to add sequential for retracting the arms and shooting hood
- // once those commands are made
- addSequential(new DriveDistance(DISTANCE, DEFAULT_SPEED));
- }
-
- public PassLowBar(double speed) {
- addSequential(new DriveDistance(DISTANCE, speed));
- }
-}
--- /dev/null
+package org.usfirst.frc.team3501.robot.commands.auton;
+
+import org.usfirst.frc.team3501.robot.commands.driving.DriveDistance;
+
+import edu.wpi.first.wpilibj.command.CommandGroup;
+
+/***
+ * This command will drive the robot through the low bar.
+ *
+ * dependency on sensors: encoders
+ * dependency on subsystems: drivetrain
+ * dependency on other commands: DriveForDist
+ *
+ * pre-condition: robot is flush against the ramp of the outerworks in front of
+ * the low bar
+ *
+ * post-condition: the robot has passed the low bar and is in the next zone
+ *
+ * @author Meryem and Avi
+ *
+ */
+
+public class PassLowBarDistance extends CommandGroup {
+
+ private final double DISTANCE = 4.0;
+ private final double DEFAULT_SPEED = 0.5;
+
+ public PassLowBarDistance() {
+ // TODO: need to add sequential for retracting the arms and shooting hood
+ // once those commands are made
+ addSequential(new DriveDistance(DISTANCE, DEFAULT_SPEED));
+ }
+
+ public PassLowBarDistance(double speed) {
+ addSequential(new DriveDistance(DISTANCE, speed));
+ }
+}
--- /dev/null
+package org.usfirst.frc.team3501.robot.commands.auton;
+
+import org.usfirst.frc.team3501.robot.commands.driving.DriveDistance;
+
+import edu.wpi.first.wpilibj.command.CommandGroup;
+
+/***
+ * This command will drive the robot through the low bar.
+ *
+ * dependency on sensors: encoders
+ * dependency on subsystems: drivetrain
+ * dependency on other commands: DriveForDist
+ *
+ * pre-condition: robot is flush against the ramp of the outerworks in front of
+ * the low bar
+ *
+ * post-condition: the robot has passed the low bar and is in the next zone
+ *
+ * @author Meryem and Avi
+ *
+ */
+
+public class PassLowBarTime extends CommandGroup {
+
+ private final double DISTANCE = 4.0;
+ private final double DEFAULT_SPEED = 0.5;
+
+ public PassLowBarTime() {
+ // TODO: need to add sequential for retracting the arms and shooting hood
+ // once those commands are made
+ addSequential(new DriveDistance(DISTANCE, DEFAULT_SPEED));
+ }
+
+ public PassLowBarTime(double speed) {
+ addSequential(new DriveDistance(DISTANCE, speed));
+ }
+}
+++ /dev/null
-package org.usfirst.frc.team3501.robot.commands.auton;
-
-import org.usfirst.frc.team3501.robot.commands.driving.DriveForTime;
-
-import edu.wpi.first.wpilibj.command.CommandGroup;
-
-/***
- * This command will drive the robot through the moat.
- *
- * The code drives the robot for a specific time at a specific speed up the ramp
- * to the defense then drive over the defense at a different speed and time.
- *
- * dependency on subsystem: drivetrain
- *
- * dependency on other commands: DriveForTime
- *
- * pre-condition: robot is flush against the ramp of the outerworks in front of
- * the moat
- *
- * post-condition: the robot has passed the moat and is in the next zone
- *
- * @author Meryem and Avi
- *
- */
-
-public class PassMoat extends CommandGroup {
-
- private final double BEG_TIME = 0;
- private final double MID_TIME = 0;
- private final double END_TIME = 0;
- private final double BEG_SPEED = 0;
- private final double MID_SPEED = 0;
- private final double END_SPEED = 0;
-
- public PassMoat() {
- addSequential(new DriveForTime(BEG_TIME, BEG_SPEED));
- addSequential(new DriveForTime(MID_TIME, MID_SPEED));
- addSequential(new DriveForTime(END_TIME, END_SPEED));
-
- }
-}
--- /dev/null
+package org.usfirst.frc.team3501.robot.commands.auton;
+
+import org.usfirst.frc.team3501.robot.commands.driving.DriveForTime;
+
+import edu.wpi.first.wpilibj.command.CommandGroup;
+
+/***
+ * This command will drive the robot through the moat.
+ *
+ * The code drives the robot for a specific time at a specific speed up the ramp
+ * to the defense then drive over the defense at a different speed and time.
+ *
+ * dependency on subsystem: drivetrain
+ *
+ * dependency on other commands: DriveForTime
+ *
+ * pre-condition: robot is flush against the ramp of the outerworks in front of
+ * the moat
+ *
+ * post-condition: the robot has passed the moat and is in the next zone
+ *
+ * @author Meryem and Avi
+ *
+ */
+
+public class PassMoatDistance extends CommandGroup {
+
+ private final double BEG_TIME = 0;
+ private final double MID_TIME = 0;
+ private final double END_TIME = 0;
+ private final double BEG_SPEED = 0;
+ private final double MID_SPEED = 0;
+ private final double END_SPEED = 0;
+
+ public PassMoatDistance() {
+ addSequential(new DriveForTime(BEG_TIME, BEG_SPEED));
+ addSequential(new DriveForTime(MID_TIME, MID_SPEED));
+ addSequential(new DriveForTime(END_TIME, END_SPEED));
+
+ }
+}
--- /dev/null
+package org.usfirst.frc.team3501.robot.commands.auton;
+
+import org.usfirst.frc.team3501.robot.commands.driving.DriveForTime;
+
+import edu.wpi.first.wpilibj.command.CommandGroup;
+
+/***
+ * This command will drive the robot through the moat.
+ *
+ * The code drives the robot for a specific time at a specific speed up the ramp
+ * to the defense then drive over the defense at a different speed and time.
+ *
+ * dependency on subsystem: drivetrain
+ *
+ * dependency on other commands: DriveForTime
+ *
+ * pre-condition: robot is flush against the ramp of the outerworks in front of
+ * the moat
+ *
+ * post-condition: the robot has passed the moat and is in the next zone
+ *
+ * @author Meryem and Avi
+ *
+ */
+
+public class PassMoatTime extends CommandGroup {
+
+ private final double BEG_TIME = 0;
+ private final double MID_TIME = 0;
+ private final double END_TIME = 0;
+ private final double BEG_SPEED = 0;
+ private final double MID_SPEED = 0;
+ private final double END_SPEED = 0;
+
+ public PassMoatTime() {
+ addSequential(new DriveForTime(BEG_TIME, BEG_SPEED));
+ addSequential(new DriveForTime(MID_TIME, MID_SPEED));
+ addSequential(new DriveForTime(END_TIME, END_SPEED));
+
+ }
+}
+++ /dev/null
-package org.usfirst.frc.team3501.robot.commands.auton;
-
-import org.usfirst.frc.team3501.robot.commands.driving.DriveForTime;
-
-import edu.wpi.first.wpilibj.command.CommandGroup;
-
-/***
- * This command will drive the robot through the rampart.
- *
- * dependency on subsystems: drivetrain
- *
- * dependency on other commands: DriveForTime
- *
- * pre-condition: robot is flush against the ramp of the outerworks in front of
- * the rampart
- *
- * post-condition: the robot has passed the rampart and is in the next zone
- *
- * @author Meryem and Avi
- *
- */
-
-public class PassRampart extends CommandGroup {
-
- public PassRampart() {
-
- final double BEG_TIME = 0;
- final double BEG_SPEED = 0;
- final double MID_TIME = 0;
- final double MID_SPEED = 0;
- final double END_TIME = 0;
- final double END_SPEED = 0;
-
- addSequential(new DriveForTime(BEG_TIME, BEG_SPEED));
- addSequential(new DriveForTime(MID_TIME, MID_SPEED));
- addSequential(new DriveForTime(END_TIME, END_SPEED));
-
- }
-
-}
--- /dev/null
+package org.usfirst.frc.team3501.robot.commands.auton;
+
+import org.usfirst.frc.team3501.robot.commands.driving.DriveForTime;
+
+import edu.wpi.first.wpilibj.command.CommandGroup;
+
+/***
+ * This command will drive the robot through the rampart.
+ *
+ * dependency on subsystems: drivetrain
+ *
+ * dependency on other commands: DriveForTime
+ *
+ * pre-condition: robot is flush against the ramp of the outerworks in front of
+ * the rampart
+ *
+ * post-condition: the robot has passed the rampart and is in the next zone
+ *
+ * @author Meryem and Avi
+ *
+ */
+
+public class PassRampartDistance extends CommandGroup {
+
+ public PassRampartDistance() {
+
+ final double BEG_TIME = 0;
+ final double BEG_SPEED = 0;
+ final double MID_TIME = 0;
+ final double MID_SPEED = 0;
+ final double END_TIME = 0;
+ final double END_SPEED = 0;
+
+ addSequential(new DriveForTime(BEG_TIME, BEG_SPEED));
+ addSequential(new DriveForTime(MID_TIME, MID_SPEED));
+ addSequential(new DriveForTime(END_TIME, END_SPEED));
+
+ }
+
+}
--- /dev/null
+package org.usfirst.frc.team3501.robot.commands.auton;
+
+import org.usfirst.frc.team3501.robot.commands.driving.DriveForTime;
+
+import edu.wpi.first.wpilibj.command.CommandGroup;
+
+/***
+ * This command will drive the robot through the rampart.
+ *
+ * dependency on subsystems: drivetrain
+ *
+ * dependency on other commands: DriveForTime
+ *
+ * pre-condition: robot is flush against the ramp of the outerworks in front of
+ * the rampart
+ *
+ * post-condition: the robot has passed the rampart and is in the next zone
+ *
+ * @author Meryem and Avi
+ *
+ */
+
+public class PassRampartTime extends CommandGroup {
+
+ public PassRampartTime() {
+
+ final double BEG_TIME = 0;
+ final double BEG_SPEED = 0;
+ final double MID_TIME = 0;
+ final double MID_SPEED = 0;
+ final double END_TIME = 0;
+ final double END_SPEED = 0;
+
+ addSequential(new DriveForTime(BEG_TIME, BEG_SPEED));
+ addSequential(new DriveForTime(MID_TIME, MID_SPEED));
+ addSequential(new DriveForTime(END_TIME, END_SPEED));
+
+ }
+
+}
+++ /dev/null
-package org.usfirst.frc.team3501.robot.commands.auton;
-
-import org.usfirst.frc.team3501.robot.commands.driving.DriveForTime;
-
-import edu.wpi.first.wpilibj.command.CommandGroup;
-
-/***
- * This command will drive the robot through the rock wall.
- *
- * dependency on subsystems: drivetrain
- *
- * dependency on other commands: DriveForTime
- *
- * pre-condition: robot is flush against the ramp of the outerworks in front of
- * the rock wall
- *
- * post-condition: the robot has passed the rock wall and is in the next zone
- *
- * @author Meryem and Avi
- *
- */
-
-public class PassRockWall extends CommandGroup {
-
- private final double BEG_TIME = 0;
- private final double MID_TIME = 0;
- private final double END_TIME = 0;
- private final double BEG_SPEED = 0;
- private final double MID_SPEED = 0;
- private final double END_SPEED = 0;
-
- public PassRockWall() {
-
- addSequential(new DriveForTime(BEG_TIME, BEG_SPEED));
- addSequential(new DriveForTime(MID_TIME, MID_SPEED));
- addSequential(new DriveForTime(END_TIME, END_SPEED));
-
- }
-}
--- /dev/null
+package org.usfirst.frc.team3501.robot.commands.auton;
+
+import org.usfirst.frc.team3501.robot.commands.driving.DriveForTime;
+
+import edu.wpi.first.wpilibj.command.CommandGroup;
+
+/***
+ * This command will drive the robot through the rock wall.
+ *
+ * dependency on subsystems: drivetrain
+ *
+ * dependency on other commands: DriveForTime
+ *
+ * pre-condition: robot is flush against the ramp of the outerworks in front of
+ * the rock wall
+ *
+ * post-condition: the robot has passed the rock wall and is in the next zone
+ *
+ * @author Meryem and Avi
+ *
+ */
+
+public class PassRockWallDistance extends CommandGroup {
+
+ private final double BEG_TIME = 0;
+ private final double MID_TIME = 0;
+ private final double END_TIME = 0;
+ private final double BEG_SPEED = 0;
+ private final double MID_SPEED = 0;
+ private final double END_SPEED = 0;
+
+ public PassRockWallDistance() {
+
+ addSequential(new DriveForTime(BEG_TIME, BEG_SPEED));
+ addSequential(new DriveForTime(MID_TIME, MID_SPEED));
+ addSequential(new DriveForTime(END_TIME, END_SPEED));
+
+ }
+}
--- /dev/null
+package org.usfirst.frc.team3501.robot.commands.auton;
+
+import org.usfirst.frc.team3501.robot.commands.driving.DriveForTime;
+
+import edu.wpi.first.wpilibj.command.CommandGroup;
+
+/***
+ * This command will drive the robot through the rock wall.
+ *
+ * dependency on subsystems: drivetrain
+ *
+ * dependency on other commands: DriveForTime
+ *
+ * pre-condition: robot is flush against the ramp of the outerworks in front of
+ * the rock wall
+ *
+ * post-condition: the robot has passed the rock wall and is in the next zone
+ *
+ * @author Meryem and Avi
+ *
+ */
+
+public class PassRockWallTime extends CommandGroup {
+
+ private final double BEG_TIME = 0;
+ private final double MID_TIME = 0;
+ private final double END_TIME = 0;
+ private final double BEG_SPEED = 0;
+ private final double MID_SPEED = 0;
+ private final double END_SPEED = 0;
+
+ public PassRockWallTime() {
+
+ addSequential(new DriveForTime(BEG_TIME, BEG_SPEED));
+ addSequential(new DriveForTime(MID_TIME, MID_SPEED));
+ addSequential(new DriveForTime(END_TIME, END_SPEED));
+
+ }
+}
+++ /dev/null
-package org.usfirst.frc.team3501.robot.commands.auton;
-
-import org.usfirst.frc.team3501.robot.commands.driving.DriveForTime;
-
-import edu.wpi.first.wpilibj.command.CommandGroup;
-
-/***
- * This command will drive the robot through the rough terrain.
- *
- * dependency on subsytems: drivetrain
- *
- * dependency on other commands: DriveForTime
- *
- * pre-condition: robot is flush against the ramp of the outerworks in front of
- * the rough terrain
- *
- * post-condition: the robot has passed the rough terrain and is in the next
- * zone
- *
- * @author Meryem and Avi
- *
- */
-public class PassRoughTerrain extends CommandGroup {
-
- // TODO: test for the time
- private final double BEG_TIME = 0;
- private final double MID_TIME = 0;
- private final double END_TIME = 0;
-
- private final double BEG_SPEED = 0;
- private final double MID_SPEED = 0;
- private final double END_SPEED = 0;
-
- public PassRoughTerrain() {
-
- addSequential(new DriveForTime(BEG_TIME, BEG_SPEED));
- addSequential(new DriveForTime(MID_TIME, MID_SPEED));
- addSequential(new DriveForTime(END_TIME, BEG_SPEED));
-
- }
-}
--- /dev/null
+package org.usfirst.frc.team3501.robot.commands.auton;
+
+import org.usfirst.frc.team3501.robot.commands.driving.DriveForTime;
+
+import edu.wpi.first.wpilibj.command.CommandGroup;
+
+/***
+ * This command will drive the robot through the rough terrain.
+ *
+ * dependency on subsytems: drivetrain
+ *
+ * dependency on other commands: DriveForTime
+ *
+ * pre-condition: robot is flush against the ramp of the outerworks in front of
+ * the rough terrain
+ *
+ * post-condition: the robot has passed the rough terrain and is in the next
+ * zone
+ *
+ * @author Meryem and Avi
+ *
+ */
+public class PassRoughTerrainDistance extends CommandGroup {
+
+ // TODO: test for the time
+ private final double BEG_TIME = 0;
+ private final double MID_TIME = 0;
+ private final double END_TIME = 0;
+
+ private final double BEG_SPEED = 0;
+ private final double MID_SPEED = 0;
+ private final double END_SPEED = 0;
+
+ public PassRoughTerrainDistance() {
+
+ addSequential(new DriveForTime(BEG_TIME, BEG_SPEED));
+ addSequential(new DriveForTime(MID_TIME, MID_SPEED));
+ addSequential(new DriveForTime(END_TIME, BEG_SPEED));
+
+ }
+}
--- /dev/null
+package org.usfirst.frc.team3501.robot.commands.auton;
+
+import org.usfirst.frc.team3501.robot.commands.driving.DriveForTime;
+
+import edu.wpi.first.wpilibj.command.CommandGroup;
+
+/***
+ * This command will drive the robot through the rough terrain.
+ *
+ * dependency on subsytems: drivetrain
+ *
+ * dependency on other commands: DriveForTime
+ *
+ * pre-condition: robot is flush against the ramp of the outerworks in front of
+ * the rough terrain
+ *
+ * post-condition: the robot has passed the rough terrain and is in the next
+ * zone
+ *
+ * @author Meryem and Avi
+ *
+ */
+public class PassRoughTerrainTime extends CommandGroup {
+
+ // TODO: test for the time
+ private final double BEG_TIME = 0;
+ private final double MID_TIME = 0;
+ private final double END_TIME = 0;
+
+ private final double BEG_SPEED = 0;
+ private final double MID_SPEED = 0;
+ private final double END_SPEED = 0;
+
+ public PassRoughTerrainTime() {
+
+ addSequential(new DriveForTime(BEG_TIME, BEG_SPEED));
+ addSequential(new DriveForTime(MID_TIME, MID_SPEED));
+ addSequential(new DriveForTime(END_TIME, BEG_SPEED));
+
+ }
+}
projects / 3501 / stronghold-2016 / commitdiff