Center_RotDrvFwdHotGoal_1Ball.java 文件源码

public Center_RotDrvFwdHotGoal_1Ball(double firstHotGoalTimeOut) {
        // wait for hot goal, assume camera is facing right hot goal
        addParallel(new TusksLongShotPosition());
        addParallel(new IntakeDown());

        addSequential(new WaitForFirstHot(), firstHotGoalTimeOut);

        // lets see if this works
        addSequential(new WaitForChildren());

        // Rotate DriveTrain based on angle from camera. Drive to the goal the
        //  camera thinks is NOT hot, since it will take more than 5sec to get
        //  to position to fire the ball.
        addSequential(new RotateDrivetrainRelative(0.0, true, true));

        //addSequential(new Sleep(), 1.0);

        // Drive forward to inscrease likelyhood of shoot and gain 5 pts, should run 55 inches forward
//      addSequential(new AutoDriveXDistance(RobotMap.autoDriveDistance.getDouble()));

        //Let the ball settle before a shot
        addSequential(new Sleep(), 2.0);

        // fire
        addSequential(new FireAndReload());

        addSequential(new AutoDriveXDistance(RobotMap.autoDriveDistance.getDouble()));
    }