CenterGearAutonomous.java 文件源码

public CenterGearAutonomous() {

        double centerGearAutoSpeed = Preferences.getInstance().getDouble(RobotMap.centerGearAutoSpeed, 0.0);
        double centerGearAutoDistance = Preferences.getInstance().getDouble(RobotMap.centerGearAutoDistance, 0.0);
        double autoWaitTime = Preferences.getInstance().getDouble(RobotMap.autoWaitTime, 0.0);
        double wiggleForward = Preferences.getInstance().getDouble(RobotMap.wiggleForward, 0.0);

        addSequential(new DriveStraightAuto(centerGearAutoDistance, centerGearAutoSpeed));
        addSequential(new TurnAngle(3));
        addSequential(new TurnAngle(-6));
        addSequential(new TurnAngle(3));
        addSequential(new DriveStraightAuto(wiggleForward, centerGearAutoSpeed));
        addSequential(new WaitCommand(autoWaitTime));
        addParallel(new DownManipulator());
        addParallel(new ReverseManipulatorMotors());
        // addSequential(new WaitCommand(autoWaitTime));
        addSequential(new DriveStraightAuto(centerGearAutoDistance / 2, -centerGearAutoSpeed));
        addSequential(new WaitCommand(autoWaitTime / 2));
        addSequential(new DriveStraightAuto(centerGearAutoDistance / 3, centerGearAutoSpeed));
        addSequential(new ManipulatorMotorOff());
        addSequential(new UpManipulator());
    }