From: Meryem Esa <meresa14@gmail.com>
Date: Wed, 16 Mar 2016 01:49:37 +0000 (-0700)
Subject: use wait command and move if statements from shoot at high goal to resetcatapult
X-Git-Url: http://challenge-bot.com/repos/?p=3501%2Fstronghold-2016;a=commitdiff_plain;h=3082b8095b18f21683ac5f79492d7d4503ec05d4

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 3c46bf4d..0651ce8f 100644
--- 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 70817273..6d15cde8 100755
--- 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 c3500e2b..ef24614d 100755
--- 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);