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Luke Staudacher
2018-03-11 11:29:41 -05:00
parent cddc1f3a25
commit b59a6672b3
7 changed files with 134 additions and 8 deletions
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src/org/usfirst/frc4388/robot/commands/auton/Cube2Right.java
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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 Cube2Right extends CommandGroup {
public Cube2Right() {
addSequential(new DriveGyroReset());
addSequential(new DriveSpeedShift(true));
addSequential(new IntakePosition(true));
addSequential(new DriveStraightBasic(-140, 50, true, true, 0));
addSequential(new ElevatorBasic(30));
addSequential(new WaitCommand(.2));
addSequential(new DriveTurnBasic(true, 87, 150, MPSoftwareTurnType.TANK));
addSequential(new ElevatorBasic(30));
addSequential(new DriveStraightBasic(8, 50, true, true, 0));
addSequential(new IntakeSetSpeed(Carriage.CUBE_EJECT_SPEED));
//addSequential(new WaitCommand(.1));
addSequential(new IntakePosition(false));
addSequential(new WaitCommand(.4));
addSequential(new IntakeSetSpeed(Carriage.CUBE_STOP_SPEED));
addSequential(new DriveStraightBasic(-10, 50, true, true, 0));
addSequential(new DriveTurnBasic(true, 40, 150, MPSoftwareTurnType.TANK));
addSequential(new DriveStraightBasic(-30, 50, true, true, 0));
addSequential(new DriveTurnBasic(true, -10, 150, MPSoftwareTurnType.TANK));
addSequential(new IntakeSetSpeed(Carriage.CUBE_INTAKE_SPEED));
addSequential(new DriveStraightBasic(30, 50, true, true, 0));
addSequential(new IntakePosition(true));
addSequential(new IntakeSetSpeed(Carriage.CUBE_STOP_SPEED));
addSequential(new DriveStraightBasic(-30, 50, true, true, 0));
addSequential(new DriveTurnBasic(true, 30, 150, MPSoftwareTurnType.TANK));
addSequential(new ElevatorBasic(70));
addSequential(new DriveStraightBasic(-20, 20, true, true, 0));
addSequential(new DriveTurnBasic(true, 87, 150, MPSoftwareTurnType.TANK));
addSequential(new IntakeSetSpeed(Carriage.CUBE_EJECT_SPEED));
//addSequential(new WaitCommand(.1));
addSequential(new IntakePosition(false));
addSequential(new WaitCommand(.5));
addSequential(new IntakeSetSpeed(Carriage.CUBE_STOP_SPEED));
addSequential(new DriveSpeedShift(false));
}
}