From 0b12952a242293f905e7117834a0f0ac24b193d7 Mon Sep 17 00:00:00 2001
From: Meryem Esa <meresa14@gmail.com>
Date: Tue, 15 Mar 2016 19:45:47 -0700
Subject: [PATCH] refactor RunIntake to be RunIntakeContinous (because its used
 only with joysticks

---
 src/org/usfirst/frc/team3501/robot/OI.java         | 14 +++++++-------
 .../{RunIntake.java => RunIntakeContinuous.java}   |  4 ++--
 .../robot/commands/shooter/ShootAtHighGoal.java    | 13 ++++++++++---
 3 files changed, 19 insertions(+), 12 deletions(-)
 rename src/org/usfirst/frc/team3501/robot/commands/intakearm/{RunIntake.java => RunIntakeContinuous.java} (91%)

diff --git a/src/org/usfirst/frc/team3501/robot/OI.java b/src/org/usfirst/frc/team3501/robot/OI.java
index 2412a36d..d63e6f8e 100644
--- a/src/org/usfirst/frc/team3501/robot/OI.java
+++ b/src/org/usfirst/frc/team3501/robot/OI.java
@@ -5,7 +5,7 @@ import org.usfirst.frc.team3501.robot.commands.driving.SetHighGear;
 import org.usfirst.frc.team3501.robot.commands.driving.SetLowGear;
 import org.usfirst.frc.team3501.robot.commands.driving.ToggleFront;
 import org.usfirst.frc.team3501.robot.commands.intakearm.MoveIntakeArm;
-import org.usfirst.frc.team3501.robot.commands.intakearm.RunIntake;
+import org.usfirst.frc.team3501.robot.commands.intakearm.RunIntakeContinuous;
 import org.usfirst.frc.team3501.robot.commands.shooter.FireCatapult;
 import org.usfirst.frc.team3501.robot.commands.shooter.ResetCatapult;
 
@@ -66,18 +66,18 @@ public class OI {
     // Right joystick
     intake = new JoystickButton(rightJoystick,
         Constants.OI.RIGHT_JOYSTICK_INTAKE_PORT);
-    intake.whenPressed(new RunIntake(IntakeArm.IN));
-    intake.whenReleased(new RunIntake(IntakeArm.STOP));
+    intake.whenPressed(new RunIntakeContinuous(IntakeArm.IN));
+    intake.whenReleased(new RunIntakeContinuous(IntakeArm.STOP));
 
     outtake1 = new JoystickButton(rightJoystick,
         Constants.OI.RIGHT_JOYSTICK_OUTTAKE_1_PORT);
-    outtake1.whenPressed(new RunIntake(IntakeArm.OUT));
-    outtake1.whenReleased(new RunIntake(IntakeArm.STOP));
+    outtake1.whenPressed(new RunIntakeContinuous(IntakeArm.OUT));
+    outtake1.whenReleased(new RunIntakeContinuous(IntakeArm.STOP));
 
     outtake2 = new JoystickButton(rightJoystick,
         Constants.OI.RIGHT_JOYSTICK_OUTTAKE_2_PORT);
-    outtake2.whenPressed(new RunIntake(IntakeArm.OUT));
-    outtake2.whenReleased(new RunIntake(IntakeArm.STOP));
+    outtake2.whenPressed(new RunIntakeContinuous(IntakeArm.OUT));
+    outtake2.whenReleased(new RunIntakeContinuous(IntakeArm.STOP));
 
     shooterUp = new JoystickButton(rightJoystick,
         Constants.OI.RIGHT_JOYSTICK_SHOOTER_UP_PORT);
diff --git a/src/org/usfirst/frc/team3501/robot/commands/intakearm/RunIntake.java b/src/org/usfirst/frc/team3501/robot/commands/intakearm/RunIntakeContinuous.java
similarity index 91%
rename from src/org/usfirst/frc/team3501/robot/commands/intakearm/RunIntake.java
rename to src/org/usfirst/frc/team3501/robot/commands/intakearm/RunIntakeContinuous.java
index 649ed5cf..989cde69 100644
--- a/src/org/usfirst/frc/team3501/robot/commands/intakearm/RunIntake.java
+++ b/src/org/usfirst/frc/team3501/robot/commands/intakearm/RunIntakeContinuous.java
@@ -5,10 +5,10 @@ import org.usfirst.frc.team3501.robot.Robot;
 
 import edu.wpi.first.wpilibj.command.Command;
 
-public class RunIntake extends Command {
+public class RunIntakeContinuous extends Command {
   int direction;
 
-  public RunIntake(int direction) {
+  public RunIntakeContinuous(int direction) {
     requires(Robot.intakeArm);
     this.direction = direction;
   }
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 6d15cde8..7fca1ff7 100755
--- a/src/org/usfirst/frc/team3501/robot/commands/shooter/ShootAtHighGoal.java
+++ b/src/org/usfirst/frc/team3501/robot/commands/shooter/ShootAtHighGoal.java
@@ -14,26 +14,33 @@ 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;
+  private static final double WAIT_SECONDS = 1.0;
 
   public ShootAtHighGoal() {
-    // make sure catapult is down
-    addSequential(new ResetCatapult());
 
     // make sure intake is in up position
     addSequential(new MoveIntakeArm(IntakeArm.RETRACT));
 
+    addSequential(new WaitCommand(WAIT_SECONDS));
+
+    // get ball onto catapult
+
     // shoot catapult pistons
     addSequential(new FireCatapult());
 
+    addSequential(new WaitCommand(WAIT_SECONDS));
+
     // extend intake (ball actually shoots here)
     addSequential(new MoveIntakeArm(IntakeArm.EXTEND));
 
+    addSequential(new WaitCommand(WAIT_SECONDS));
+
     // wait a bit
     addSequential(new WaitCommand(WAIT_SECONDS));
 
     // retract catapult pistons
     addSequential(new ResetCatapult());
 
+    //
   }
 }
-- 
2.30.2