From: Meryem Esa <meresa14@gmail.com>
Date: Wed, 16 Mar 2016 01:39:16 +0000 (-0700)
Subject: add wait command and remove if statement checking for catapult extension
X-Git-Url: http://challenge-bot.com/repos/?p=3501%2Fstronghold-2016;a=commitdiff_plain;h=0496ee10adca9fb0bbeafba909c98c6d75823078

add wait command and remove if statement checking for catapult extension
---

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 54e4d94f..70817273 100755
--- a/src/org/usfirst/frc/team3501/robot/commands/shooter/ShootAtHighGoal.java
+++ b/src/org/usfirst/frc/team3501/robot/commands/shooter/ShootAtHighGoal.java
@@ -1,26 +1,26 @@
 package org.usfirst.frc.team3501.robot.commands.shooter;
 
 import org.usfirst.frc.team3501.robot.Constants.IntakeArm;
-import org.usfirst.frc.team3501.robot.Robot;
 import org.usfirst.frc.team3501.robot.commands.intakearm.MoveIntakeArm;
 
 import edu.wpi.first.wpilibj.command.CommandGroup;
+import edu.wpi.first.wpilibj.command.WaitCommand;
 
 /**
  * This command group performs the sequence of steps to shoot at the high goal
  *
- * pre-conditions: a ball is in the intake, and the intake is in the up position
+ * pre-conditions: a ball is in the intake
  *
  * post-conditions: catapult is retracted, intake is extended
  */
 public class ShootAtHighGoal extends CommandGroup {
 
   public ShootAtHighGoal() {
-    // (if photogate) check if ball is in intake
+    // make sure catapult is down
+    addSequential(new ResetCatapult());
 
-    // make sure intake is in up position and change accordingly
-    if (!Robot.intakeArm.isExtended())
-      addSequential(new MoveIntakeArm(IntakeArm.RETRACT));
+    // make sure intake is in up position
+    addSequential(new MoveIntakeArm(IntakeArm.RETRACT));
 
     // shoot catapult pistons
     addSequential(new FireCatapult());
@@ -28,6 +28,9 @@ public class ShootAtHighGoal extends CommandGroup {
     // extend intake (ball actually shoots here)
     addSequential(new MoveIntakeArm(IntakeArm.EXTEND));
 
+    // wait a bit
+    addSequential(new WaitCommand(1.0));
+
     // retract catapult pistons
     addSequential(new ResetCatapult());