BackwardMovingShot.java 文件源码

public BackwardMovingShot() {
    addSequential(new UnlockShooter()); // Release shooter piston
    addSequential(new SetShooterSpeed(.9)); // Set shooter wheel PIDs
    addParallel(new AimParallel());
    addSequential(new TurnToGoalWhileDrivingBackward()); // see TurnToGoalWhileDrivingBackward()
    addSequential(new WaitCommand(.5));
    addSequential(new Aim()); // Ajusts shooter angle based on distance algorithm
    // addSequential(new WaitCommand(.5)); // Waits for shooter to settle
    addSequential(new MoveBallIntoShooter()); // Drive feeder roller untill ball leaves
    addSequential(new WaitCommand(.25)); // Guarantee ball has left
    addSequential(new SetShooterSpeed(0.0)); // Spin down shooter
    addSequential(new CancelShot()); // Free up shooting subsystems
    addSequential(new DriveWithJoysticks()); // Return control to the driver
}