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| /* | |
| * To change this template, choose Tools | Templates | |
| * and open the template in the editor. | |
| */ | |
| package chimeras1684.year2013.testing.commands.auton; | |
| import chimeras1684.year2013.testing.commands.general.DiscHandlerCommands; | |
| import chimeras1684.year2013.testing.commands.general.DriveTrainCommands; | |
| import chimeras1684.year2013.testing.commands.general.TargetingCommands; | |
| import chimeras1684.year2013.testing.commands.general.ShooterCommands; | |
| import chimeras1684.year2013.testing.root.TimedCommandGroup; | |
| /** | |
| * | |
| * @author Arhowk | |
| */ | |
| public class FiveDiscAuton extends TimedCommandGroup { | |
| public FiveDiscAuton() { | |
| // /**/ Command /**/Start Time/**/ Duration /**/ | |
| add(new ShooterCommands. ShooterOn(), /**/ 0, /**/ 15 ); /**/ | |
| add(new TargetingCommands. VerticalTargeting(), /**/ 0, /**/ 15 ); /**/ | |
| add(new ShooterCommands. Reset(), /**/ 3.5, /**/ 0.5); /**/ | |
| add(new DiscHandlerCommands.HopperDown(), /**/ 3.5, /**/ 0.5); /**/ | |
| add(new ShooterCommands. FireDisc(), /**/ 4, /**/ 0.5); /**/ | |
| add(new ShooterCommands. Reset(), /**/ 4.5, /**/ 0.5); /**/ | |
| add(new DiscHandlerCommands.HopperDown(), /**/ 4.5, /**/ 0.5); /**/ | |
| add(new ShooterCommands. FireDisc(), /**/ 5, /**/ 0.5); /**/ | |
| add(new ShooterCommands. Reset(), /**/ 5.5, /**/ 0.5); /**/ | |
| add(new DiscHandlerCommands.HopperDown(), /**/ 5.5, /**/ 0.5); /**/ | |
| add(new ShooterCommands. FireDisc(), /**/ 6, /**/ 0.5); /**/ | |
| add(new ShooterCommands. Reset(), /**/ 6.5, /**/ 0.5); /**/ | |
| add(new DiscHandlerCommands.HopperDown(), /**/ 6.5, /**/ 0.5); /**/ | |
| add(new DriveTrainCommands. DriveAuto(1000, 0.15, 0.4, true, 0.45), /**/ 7, /**/ 1.5); /**/ //1000 timeout, 0.15 x original distance, 0.4 is minimum accel, true is direction (true = forward), 0.45 is minimum decel (untill coasting) | |
| add(new DiscHandlerCommands.ArmUp(), /**/ 8.5, /**/ 1 ); /**/ | |
| add(new DiscHandlerCommands.ArmLoadIn(), /**/ 8.5, /**/ 1 ); /**/ | |
| add(new DiscHandlerCommands.ArmLoadOut(), /**/ 9.5, /**/ 4.5); /**/ | |
| add(new ShooterCommands. Reset(), /**/ 10, /**/ 0.5); /**/ | |
| add(new DiscHandlerCommands.HopperDown(), /**/ 10, /**/ 0.5); /**/ | |
| add(new ShooterCommands. FireDisc(), /**/ 10.5, /**/ 0.5); /**/ | |
| add(new ShooterCommands. Reset(), /**/ 11, /**/ 0.5); /**/ | |
| add(new DiscHandlerCommands.HopperDown(), /**/ 11, /**/ 0.5); /**/ | |
| add(new ShooterCommands. FireDisc(), /**/ 11.5, /**/ 0.5); /**/ | |
| add(new ShooterCommands. Reset(), /**/ 12, /**/ 0.5); /**/ | |
| add(new DiscHandlerCommands.HopperDown(), /**/ 12, /**/ 0.5); /**/ | |
| add(new ShooterCommands. FireDisc(), /**/ 12.5, /**/ 0.5); /**/ | |
| add(new ShooterCommands. Reset(), /**/ 13, /**/ 0.5); /**/ | |
| add(new DiscHandlerCommands.HopperDown(), /**/ 13, /**/ 0.5); /**/ | |
| } | |
| } | |
| //Alternatively, you can use a timed CommandGroup | |
| //Timed CommandGroup code can be found from a fellow coder as i have no idea how to build it in to a FRC package | |
| //Author of TimedCommandGroup = Arhowk (Jake Niman) | |
| //public class FiveDiscAuton extends TimedCommandGroup { | |
| // | |
| // public FiveDiscAuton() { | |
| // // Add Commands here: | |
| // // add(Command command) //will run the command at beginning with no internal timeout | |
| // // add(Cmmand command,double start) //will run the command after "start" seconds with no internal timeout | |
| // // add(Command command, double start,double timeout) //will run the command after "start" seconds with "timeout" seconds of internal timeout | |
| // // e.g. add(new MyCommand()) //will run at start | |
| // // add(new MyCommand2(),5); //will run after 5 seconds | |
| // // add(new MyCommamnd3(),10,5); //will run after 10 seconds and terminate after another 5 seconds | |
| // } | |
| //} |