Team4388/2018-Robot
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lukesta182
2018-03-09 00:01:29 -06:00
parent 9404d0bdc2
commit 74ed82fc40
12 changed files with 152 additions and 117 deletions
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src/org/usfirst/frc4388/robot/commands/auton/CenterLeft.java
+9 -5
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@@ -1,17 +1,17 @@
package org.usfirst.frc4388.robot.commands.auton;
import org.usfirst.frc4388.robot.commands.DriveAbsoluteTurnMP;
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.DriveStraightMP;
import org.usfirst.frc4388.robot.commands.DriveTurnBasic;
import org.usfirst.frc4388.robot.commands.ElevatorBasic;
import org.usfirst.frc4388.robot.commands.ElevatorSetSpeed;
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.robot.subsystems.Drive;
import org.usfirst.frc4388.utility.MPSoftwarePIDController.MPSoftwareTurnType;
import edu.wpi.first.wpilibj.command.CommandGroup;
@@ -25,8 +25,9 @@ public class CenterLeft extends CommandGroup {
public CenterLeft()
{
addSequential(new DriveGyroReset());
addSequential(new IntakePosition(true));
addSequential(new DriveSpeedShift(true));
addSequential(new DriveStraightBasic(-15, 60, true, true, 0));
addSequential(new DriveTurnBasic(true, 130, 300, MPSoftwareTurnType.TANK));
addSequential(new DriveStraightBasic(53, 60, true, true, 0));
@@ -38,5 +39,8 @@ public class CenterLeft extends CommandGroup {
addSequential(new IntakePosition(false));
addSequential(new WaitCommand(.2));
addSequential(new IntakeSetSpeed(Carriage.CUBE_STOP_SPEED));
addSequential(new DriveStraightBasic(-20, 60, true, true, 0));
addSequential(new ElevatorBasic(10));
addSequential(new DriveSpeedShift(false));
}
}