CommandBase.java 文件源码

public static Command shootHotGoalShortDriveAutonomous() {
    CommandGroup driveAndCheckGoal = driveAndPrepareToShoot(true, DriveTrainSubsystem.EncoderBasedDriving.AUTONOMOUS_DRIVE_DISTANCE_SHORT, 0, 2.5);
    CommandGroup mainAutonomousSequence = new CommandGroup("mainAutoSeq");
    //drive and check goal. When both are done (checking goal and driving), shoot
    mainAutonomousSequence.addSequential(setFingerPosition(ClawFingerSubsystem.DOWN));
    mainAutonomousSequence.addSequential(new SetClawWinchSolenoid(true));
    mainAutonomousSequence.addSequential(driveAndCheckGoal);
    mainAutonomousSequence.addSequential(new WaitCommand(200));
    mainAutonomousSequence.addSequential(shootBall());
    return mainAutonomousSequence;
}