Shoot2BallBackAutonomous.java 文件源码

public Shoot2BallBackAutonomous() {  
    addSequential(new TransmissionShift(Transmission.HI_GEAR));
    addParallel(new ChassisMove(Chassis.MOVE_AUTON_BACK_LONG_DISTANCE, Chassis.MOVE_AUTON_SPEED, true));  
    addSequential(new PivotSetAngle(Pivot.PIVOT_POSITION_REVERSE_LONG_SHOT));
    addSequential(new WaitForChildren());

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

    addParallel(new WinchSetPositionLongShot(Winch.WINCH_DISTANCE_LONG_SHOT, 1.0));
    addParallel(new PivotSetAngle(Pivot.PIVOT_POSITION_FORWARD_INTAKE));
    addSequential(new ChassisMove(60, Chassis.MOVE_AUTON_SPEED, true)); 
    addSequential(new WaitForChildren());

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

    addParallel(new ChassisMove(-95, Chassis.MOVE_AUTON_SPEED, true));  
    addSequential(new PivotSetAngle(Pivot.PIVOT_POSITION_REVERSE_LONG_SHOT));
    addSequential(new WaitForChildren());

    addSequential(new IntakeOnTimed(0.3, Intake.INTAKE_ROLLER_SPEED_BALL_PICKUP));
    addSequential(new WingsSetPosition(PneumaticSubsystem.EXTEND));
    addSequential(new WaitTimer(1.0));
    addSequential(new WinchFire());

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