public static final double kADJUST = 8;
// Drivetrain Motor related ports
- public static final int DRIVE_FRONT_LEFT = 6;
- public static final int DRIVE_REAR_LEFT = 5;
- public static final int DRIVE_FRONT_RIGHT = 1;
- public static final int DRIVE_REAR_RIGHT = 2;
+ public static final int DRIVE_FRONT_LEFT = 1;
+ public static final int DRIVE_REAR_LEFT = 2;
+ public static final int DRIVE_FRONT_RIGHT = 6;
+ public static final int DRIVE_REAR_RIGHT = 5;
// Drivetrain shifter related ports
public static final int LEFT_SHIFT_MODULE = PCM_MODULE_B;
chooser.addObject("Sally Port", Defense.SALLY_PORT);
chooser.addObject("Rough Terrain" + Auton.ROUGH_TERRAIN_SPEED + " "
+ Auton.ROUGH_TERRAIN_TIME, Defense.ROUGH_TERRAIN);
- chooser.addObject("Low Bar" + Auton.LOW_BAR_SPEED + " "
- + Auton.LOW_BAR_TIME, Defense.LOW_BAR);
+ chooser.addObject("Low Bar" + " Will probably work...", Defense.LOW_BAR);
chooser.addObject("Chival De Frise", Defense.CHIVAL_DE_FRISE);
chooser.addObject("Drawbridge", Defense.DRAWBRIDGE);
chooser.addObject("Moat" + Auton.MOAT_SPEED + " " + Auton.MOAT_TIME,
package org.usfirst.frc.team3501.robot.commands.auton;
-import org.usfirst.frc.team3501.robot.Constants.Auton;
+import org.usfirst.frc.team3501.robot.Constants.IntakeArm;
import org.usfirst.frc.team3501.robot.commands.driving.TimeDrive;
+import org.usfirst.frc.team3501.robot.commands.intakearm.MoveIntakeArm;
import edu.wpi.first.wpilibj.command.CommandGroup;
public class PassLowBar extends CommandGroup {
public PassLowBar() {
- addSequential(new TimeDrive(Auton.LOW_BAR_SPEED, Auton.LOW_BAR_TIME));
+ addSequential(new TimeDrive(.3, 1));
+ addSequential(new MoveIntakeArm(IntakeArm.EXTEND));
+ addSequential(new TimeDrive(.5, 3));
}
}
public void setMotorSpeeds(double left, double right) {
double k = (isFlipped() ? -1 : 1);
- robotDrive.tankDrive(-left * k, -right * k);
+ robotDrive.tankDrive(-left, -right);
}
/**