Shoot2BallAutonomous.java 文件源码

public Shoot2BallAutonomous() {     
    addSequential(new TransmissionShift(Transmission.LO_GEAR));
    addSequential(new PivotSetAngle(Pivot.PIVOT_POSITION_FORWARD_AUTO_HOLD));
    addSequential(new ChassisMove(Chassis.MOVE_AUTON_FORWARD_LONG_DISTANCE, Chassis.MOVE_AUTON_SPEED, true));  
    addSequential(new PivotSetAngle(Pivot.PIVOT_POSITION_LONG_SHOT));

    addSequential(new IntakeSetArmPosition(PneumaticSubsystem.EXTEND));
    addSequential(new WingsSetPosition(PneumaticSubsystem.EXTEND));
    addSequential(new WaitTimer(0.1));
    addSequential(new WinchFire());    

    addParallel(new WinchSetPositionLongShot(Winch.WINCH_DISTANCE_LONG_SHOT, 1.0));
    addSequential(new IntakeSetArmPosition(PneumaticSubsystem.RETRACT));
    addSequential(new ChassisMove(-25, Chassis.MOVE_AUTON_SPEED, true));  
    addSequential(new PivotSetAngle(Pivot.PIVOT_POSITION_FORWARD_INTAKE));
    addSequential(new WaitForChildren());

    addParallel(new IntakeLoadBall());
    addSequential(new ChassisMove(40, Chassis.MOVE_AUTON_SPEED, true));  
    addSequential(new WaitForChildren());

    addParallel(new ChassisMove(-15, Chassis.MOVE_AUTON_SPEED, true));  
    addSequential(new PivotSetAngle(Pivot.PIVOT_POSITION_LONG_SHOT));
    addSequential(new WaitForChildren());

    addSequential(new IntakeOnTimed(0.2, Intake.INTAKE_ROLLER_SPEED_BALL_PICKUP));
    addSequential(new IntakeSetArmPosition(PneumaticSubsystem.EXTEND));
    addSequential(new WingsSetPosition(PneumaticSubsystem.EXTEND));
    addSequential(new WaitTimer(0.1));
    addSequential(new WinchFire());

    addSequential(new IntakeSetArmPosition(PneumaticSubsystem.RETRACT));
    addParallel(new WingsSetPosition(PneumaticSubsystem.RETRACT));
    addParallel(new PivotSetAngle(Pivot.PIVOT_POSITION_UP));
    addParallel(new TransmissionShift(Transmission.HI_GEAR));
}