LeftPeg.java 文件源码

public LeftPeg() {

        Robot.driveTrain.resetEnc();
        table = NetworkTable.getTable("Vision");

        addSequential(new DFDSpeed(-200, -200, 1.55, 1.55));
        addSequential(new WaitCommand(0.2));
        addSequential(new GyroTurn(-150, 50), 2);
        addSequential(new WaitCommand(0.2));
        addSequential(new VisionGyroAlign(), 1);
        addSequential(new WaitCommand(0.2));
        addSequential(new MovingVisionAlignment(), 5); //removed timeout
        addSequential(new WaitCommand(0.5));

        addSequential(new DFDSMove(200, 200, 1.0, 1.0), 2);
        addSequential(new WaitCommand(0.1));
        addSequential(new MovingVisionAlignment(), 5); //removed timeout
        addSequential(new WaitCommand(0.1));
        addSequential(new DFDSMove(200, 200, 1.0, 1.0), 2);
        addSequential(new WaitCommand(0.1));
        addSequential(new MovingVisionAlignment(), 5); //removed timeout
        addSequential(new WaitCommand(0.1));
        addSequential(new DFDSMove(200, 200, 1.0, 1.0), 2);
        addSequential(new WaitCommand(0.1));
        addSequential(new MovingVisionAlignment()); //removed timeout
        addSequential(new WaitCommand(0.1));
        addSequential(new GearOn(false, false), 1);
        addSequential(new WaitCommand(0.5));
        addSequential(new DFDSpeed(200, 200, 1.4, 1.4));

    }