CommandBase.java 文件源码

public static Command shootBall(boolean auto) {
    CommandGroup fireSequence = new CommandGroup();
    fireSequence.addParallel(setFingerPosition(ClawFingerSubsystem.UP));
    fireSequence.addParallel(new RunRollers(ClawRollerSubsystem.ROLLER_SPIN_SHOOT_SPEED));
    fireSequence.addSequential(new SetClawWinchSolenoid(false));
    fireSequence.addSequential(new WaitCommand(ClawWinchSubsystem.TIME_TO_FIRE));
    //then recoils
    fireSequence.addSequential(setFingerPosition(ClawFingerSubsystem.DOWN));
    fireSequence.addSequential(new RunRollers(ClawRollerSubsystem.ROLLER_SPIN_OFF_SPEED));
    if (auto) {
        fireSequence.addSequential(autoCoilClawWinch(), ClawWinchSubsystem.MAX_COIL_TIME);
    }
    return fireSequence;

}