Autonomous.java 文件源码

public Command assembleCommand() {
    CommandGroup cmd = new CommandGroup();
    cmd.addSequential(new DriveStraight(60 * (2.0 + 4.0 / 9.0), 0, 0.5));// Move to the start defense
    switch (startDefense()) {// Traverse the start defense
    case LOW_BAR:
        cmd.addSequential(new DriveStraight(60 * (2.0 + 4.0 / 9.0), 0, 0.5));
        break;
    case PORTCULLIS:
        cmd.addSequential(new TraversePortcullis(true));//Travels 50
        cmd.addSequential(new DriveStraight(10 * (2.0 + 4.0 / 9.0), 0, 0.5));
        break;
    case CHEVAL_DE_FRESE:
        return null;
    case SALLY_PORT:
        return null;
    case DRAWBRIDGE:
        return null;
    case ROUGH_TERRAIN:
        cmd.addSequential(new DriveStraight(60 * (2.0 + 4.0 / 9.0), 0, 0.3));
        break;
    case RAMPARTS:
        return null;
    case ROCK_WALL:
        cmd.addSequential(new DriveStraight(70 * (2.0 + 4.0 / 9.0), 0, 0.8));
        break;
    case MOAT:
        cmd.addSequential(new DriveStraight(60 * (2.0 + 4.0 / 9.0), 0, 0.7));
        break;
    }
    //Move to firing position
    switch (startPosition()) {
    case(1):
        cmd.addSequential(new DriveStraight(60 * (2.0 + 4.0 / 9.0), 0, 0.5));
        cmd.addSequential(new TurnToAtRate(46, 0.5));
        break;
    case(2):
        cmd.addSequential(new DriveStraight(130 * (2.0 + 4.0 / 9.0), 0, 0.5));
        cmd.addSequential(new TurnToAtRate(46, 0.5));
        break;
    case(3):
        cmd.addSequential(new TurnToAtRate(45, 0.5));
        cmd.addSequential(new DriveStraight(45 * (2.0 + 4.0 / 9.0), 0.5));
        cmd.addSequential(new TurnToAtRate(0, 0.5));
        break;
    case(4):
        cmd.addSequential(new DriveStraight(20 * (2.0 + 4.0 / 9.0), 0, 0.5));
        break;
    case(5):
        cmd.addSequential(new TurnToAtRate(335, 0.5));
        cmd.addSequential(new DriveStraight(60 * (2.0 + 4.0 / 9.0), 0.5));
        cmd.addSequential(new TurnToAtRate(0, 0.5));
        break;
    }
    cmd.addSequential(new VisionSeek());
    cmd.addSequential(new LoadBoulder());
    return cmd;
}