mirror of
https://github.com/Team4388/2018-Robot.git
synced 2026-06-09 08:48:06 -06:00
61 lines
2.8 KiB
Java
61 lines
2.8 KiB
Java
|
package org.usfirst.frc4388.robot.commands.auton;
|
||
|
|
|
||
|
|
import org.usfirst.frc4388.robot.commands.DriveGyroReset;
|
||
|
|
import org.usfirst.frc4388.robot.commands.DriveSpeedShift;
|
||
|
|
import org.usfirst.frc4388.robot.commands.DriveStraightBasic;
|
||
|
|
import org.usfirst.frc4388.robot.commands.DriveTurnBasic;
|
||
|
|
import org.usfirst.frc4388.robot.commands.ElevatorBasic;
|
||
|
|
import org.usfirst.frc4388.robot.commands.IntakePosition;
|
||
|
|
import org.usfirst.frc4388.robot.commands.IntakeSetSpeed;
|
||
|
|
import org.usfirst.frc4388.robot.subsystems.Carriage;
|
||
|
|
import org.usfirst.frc4388.utility.MPSoftwarePIDController.MPSoftwareTurnType;
|
||
|
|
|
||
|
|
import edu.wpi.first.wpilibj.command.CommandGroup;
|
||
|
|
import edu.wpi.first.wpilibj.command.WaitCommand;
|
||
|
|
|
||
|
|
public class CenterRight2Cube extends CommandGroup {
|
||
|
|
|
||
|
|
public CenterRight2Cube()
|
||
|
|
{
|
||
|
|
addSequential(new DriveGyroReset());
|
||
|
|
addSequential(new IntakePosition(true));
|
||
|
|
addSequential(new DriveSpeedShift(true));
|
||
|
|
|
||
|
|
addSequential(new DriveStraightBasic(-15, 30, true, true, 0));
|
||
|
|
addSequential(new DriveTurnBasic(true, -115, 150, MPSoftwareTurnType.TANK));
|
||
|
|
addSequential(new WaitCommand(.2));
|
||
|
|
addSequential(new DriveStraightBasic(80, 45, true, true, 0));
|
||
|
|
addSequential(new ElevatorBasic(25));
|
||
|
|
addSequential(new DriveTurnBasic(true, -35, 150, MPSoftwareTurnType.TANK));
|
||
|
|
addSequential(new DriveStraightBasic(15, 45, true, true, 0));
|
||
|
|
addSequential(new IntakeSetSpeed(Carriage.CUBE_EJECT_SPEED));
|
||
|
|
//addSequential(new WaitCommand(.1));
|
||
|
|
addSequential(new IntakePosition(false));
|
||
|
|
addSequential(new WaitCommand(.2));
|
||
|
|
addSequential(new IntakeSetSpeed(Carriage.CUBE_STOP_SPEED));
|
||
|
|
addSequential(new DriveStraightBasic(-25, 45, true, true, 0));
|
||
|
|
addSequential(new ElevatorBasic(10));
|
||
|
|
addSequential(new WaitCommand(.2));
|
||
|
|
addSequential(new ElevatorBasic(2));
|
||
|
|
addSequential(new DriveTurnBasic(true, 90, 150, MPSoftwareTurnType.TANK));
|
||
|
|
addSequential(new IntakeSetSpeed(Carriage.CUBE_INTAKE_SPEED));
|
||
|
|
addSequential(new DriveStraightBasic(20, 45, true, true, 0));
|
||
|
|
addSequential(new IntakePosition(true));
|
||
|
|
addSequential(new IntakeSetSpeed(Carriage.CUBE_STOP_SPEED));
|
||
|
|
addSequential(new DriveStraightBasic(-20, 45, true, true, 0));
|
||
|
|
|
||
|
|
addSequential(new ElevatorBasic(25));
|
||
|
|
addSequential(new DriveTurnBasic(true, -90, 150, MPSoftwareTurnType.TANK));
|
||
|
|
addSequential(new DriveStraightBasic(10, 45, true, true, 0));
|
||
|
|
addSequential(new IntakeSetSpeed(Carriage.CUBE_EJECT_SPEED));
|
||
|
|
//addSequential(new WaitCommand(.1));
|
||
|
|
addSequential(new IntakePosition(false));
|
||
|
|
addSequential(new WaitCommand(.2));
|
||
|
|
addSequential(new IntakeSetSpeed(Carriage.CUBE_STOP_SPEED));
|
||
|
|
addSequential(new DriveStraightBasic(-20, 45, true, true, 0));
|
||
|
|
|
||
|
|
addSequential(new DriveSpeedShift(false));
|
||
|
|
|
||
|
|
}
|
||
|
|
}
|