add code that puts ball onto catapult

diff --git a/src/org/usfirst/frc/team3501/robot/Constants.java b/src/org/usfirst/frc/team3501/robot/Constants.java
index a6543a8fa70ab872c15afad6eaf48cf3a3302d76..2fcbabe5122a07f02b0fb63b1f914d7f5ea79fa9 100644 (file)
--- a/src/org/usfirst/frc/team3501/robot/Constants.java
+++ b/src/org/usfirst/frc/team3501/robot/Constants.java
@@ -64,7 +64,8 @@ public class Constants {
     public final static int ENCODER_RIGHT_A = 3;
     public final static int ENCODER_RIGHT_B = 4;
 
-    public static final double INCHES_PER_PULSE = ((3.66 / 5.14) * 6 * Math.PI) / 256;
+    public static final double INCHES_PER_PULSE = ((3.66 / 5.14) * 6 * Math.PI)
+        / 256;
 
     public static double kp = 0.013, ki = 0.000015, kd = -0.002;
     public static double encoderTolerance = 8.0;
@@ -85,6 +86,10 @@ public class Constants {
     public static final Value SHOOT = Value.kForward;
     public static final Value RESET = Value.kReverse;
     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;
+
   }
 
   public static class IntakeArm {

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 7fca1ff75e2533726300bd551296ac88883ae2db..1f21e2fb84d1cfccb5cc09869505a83a8844e2c7 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 +1,9 @@
 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;
 
 import edu.wpi.first.wpilibj.command.CommandGroup;
 import edu.wpi.first.wpilibj.command.WaitCommand;
@@ -14,6 +16,7 @@ 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;
 
   public ShootAtHighGoal() {
@@ -24,6 +27,9 @@ 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));
 
     // shoot catapult pistons
     addSequential(new FireCatapult());
@@ -35,9 +41,6 @@ public class ShootAtHighGoal extends CommandGroup {
 
     addSequential(new WaitCommand(WAIT_SECONDS));
 
-    // wait a bit
-    addSequential(new WaitCommand(WAIT_SECONDS));
-
     // retract catapult pistons
     addSequential(new ResetCatapult());