ShootIntoGoal.java 文件源码

public ShootIntoGoal() {

        // Arms down
        addSequential(new ArmsDown());

        // Aim at goal
        addSequential(new ManualShooterAngle(), 0.7);

        // Turn to goal
        addSequential(new RotateRobotToGoal(), 0.8);
        addSequential(new WaitCommand(0.5));
        addSequential(new RotateRobotToGoal(), 0.5);
        addSequential(new WaitCommand(0.5));
        addSequential(new RotateRobotToGoal(), 0.3);
        addSequential(new WaitCommand(0.5));
        addSequential(new RotateRobotToGoal(), 0.3);

        // Aim at goal
        addSequential(new SetShooterAngleToGoal(), 0.7);

//      // Rev up shooter
//      addSequential(new SetShooterToCalculatedSpeed(), 1.5);
//      
//      // Fire at goal
//      addSequential(new ToggleShooterPiston());
//      addSequential(new WaitCommand(0.25));
//      addSequential(new ToggleShooterPiston());

        addSequential(new ShootFullSpeed());

    }