CommandBase.java 文件源码-java代码片段

CommandBase.java 文件源码

java

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项目：649code2014 作者:

public static Command twoBallShortDriveAutonomous() {
    CommandGroup mainAutonomousSequence = new CommandGroup("mainAutoSeq");
    mainAutonomousSequence.addSequential(driveAndPrepareToShoot(false, DriveTrainSubsystem.EncoderBasedDriving.AUTONOMOUS_DRIVE_DISTANCE_SHORT, 0, 1.6));
    mainAutonomousSequence.addSequential(shootBall(false));
    mainAutonomousSequence.addParallel(autoCoilClawWinch(), ClawWinchSubsystem.MAX_COIL_TIME);
    mainAutonomousSequence.addSequential(repositionAndPickup(DriveTrainSubsystem.EncoderBasedDriving.AUTONOMOUS_DRIVE_DISTANCE_SHORT));
    mainAutonomousSequence.addParallel(realignBall());
    mainAutonomousSequence.addSequential(driveAndPrepareToShoot(false, DriveTrainSubsystem.EncoderBasedDriving.AUTONOMOUS_DRIVE_DISTANCE_SHORT - 16, 9.2, 10));
    mainAutonomousSequence.addSequential(shootBall());
    return mainAutonomousSequence;
}