GoToLowGoal.java 文件源码

/**
 * Init- if statement to decide which low goal to go to; also adds the
 * correct GoToXYPath command
 */
@Override
protected void initialize()
{
    double mYPosition = Properties2016.sLOW_GOAL_Y.getValue();
    double mXPosition = Properties2016.sLOW_GOAL_X.getValue();
    if (mPositioner.getXPosition() < 0)
    {
        mXPosition = -mXPosition;
    }
    GoToXYPath drive_close_to_goal = new GoToXYPath(mDriveTrain, mPositioner, (mXPosition + 15), (mYPosition - 30), mMaxTurnVel, mMaxTurnAccel,
            mMaxDriveVel,
            mMaxDriveAccel);
    GoToXYPath drive_to_goal = new GoToXYPath(mDriveTrain, mPositioner, mXPosition, mYPosition, mMaxTurnVel, mMaxTurnAccel, mMaxDriveVel, mMaxDriveAccel);

    mCommandGroup = new CommandGroup();
    mCommandGroup.addSequential(drive_close_to_goal);
    mCommandGroup.addSequential(drive_to_goal);
}