mirror of
https://github.com/Team4388/RiseOfRidgebotics2020.git
synced 2026-06-09 00:38:00 -06:00
ryan123rudder
35 lines
1.5 KiB
Java
35 lines
1.5 KiB
Java
/*----------------------------------------------------------------------------*/
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/* Copyright (c) 2019 FIRST. All Rights Reserved. */
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/* Open Source Software - may be modified and shared by FRC teams. The code */
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/* must be accompanied by the FIRST BSD license file in the root directory of */
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/* the project. */
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/*----------------------------------------------------------------------------*/
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package frc4388.robot.commands.shooter;
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import edu.wpi.first.wpilibj2.command.ParallelDeadlineGroup;
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import frc4388.robot.commands.storage.StoragePrep;
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import frc4388.robot.subsystems.Shooter;
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import frc4388.robot.subsystems.ShooterAim;
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import frc4388.robot.subsystems.ShooterHood;
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import frc4388.robot.subsystems.Storage;
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// NOTE: Consider using this command inline, rather than writing a subclass. For more
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// information, see:
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// https://docs.wpilib.org/en/latest/docs/software/commandbased/convenience-features.html
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public class ShootPrepGroup extends ParallelDeadlineGroup {
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/**
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* Prepares the Shooter to be fired
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* @param m_shooter The Shooter subsytem
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* @param m_shooterAim The ShooterAim subsystem
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* @param m_storage The Storage subsytem
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*/
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public ShootPrepGroup(Shooter m_shooter, ShooterAim m_shooterAim, ShooterHood m_shooterHood, Storage m_storage) {
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super(
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new TrackTarget(m_shooterAim),
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new ShooterVelocityControlPID(m_shooter),
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new HoodPositionPID(m_shooterHood)
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);
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}
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}
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