java类edu.wpi.first.wpilibj.command.WaitCommand的实例源码

public MediumRangeShot() {
    addSequential(new UnlockShooter()); // Release shooter piston
    // addSequential(new SetShooterSpeed(.9)); // Set shooter wheel PIDs
    addSequential(new SetShooterSpeed(.9));
    addParallel(new AimParallel());
    addSequential(new TurnToGoalWithGyro()); // see TurnToGoalWithGyro()
    // addSequential(new WaitCommand(.5));
    addSequential(new Aim()); // Ajusts shooter angle based on distance algorithm
    addSequential(new MoveBallIntoStorage());
    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
}

public EjectBall() {
    addSequential(new RaiseRake());
    addParallel(new ReverseRoller());
    addSequential(new IntakeMotorReverse());
    addSequential(new WaitCommand(1.0)); // maybe change this
    addSequential(new StopRoller());
    addSequential(new IntakeMotorStop());
}

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
}

public ForwardMovingShot() {
    addSequential(new UnlockShooter()); // Release shooter piston
    addSequential(new SetShooterSpeed(.9)); // Set shooter wheel PIDs
    addParallel(new AimParallel());
    addSequential(new TurnToGoalWhileDrivingForward()); // see TurnToGoalWhileDrivingForward()
    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
}

public BatterShot() {
    addSequential(new DriveDistance(-.4, 26));
    addSequential(new UnlockShooter());
    addSequential(new LowerRake());
    addSequential(new SetShooterSpeed(Preferences.getInstance().getDouble("ShooterSpeed", 0.0)));
    addSequential(new AimToAngle(61));
    addSequential(new WaitCommand(1.0));
    addSequential(new MoveBallIntoShooter());
    addSequential(new WaitCommand(1.0));
    addSequential(new SetShooterSpeed(0.0));
    addSequential(new RaiseRake());

}

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());

    }

public LaunchBallCommandGroup() {
    System.out.println("Launch Ball Command Group");
    addSequential(new ActivateLauncherServosCommand());
    addSequential(new WaitCommand(1));
    addSequential(new RetractLauncherServosCommand());
    addSequential(new StopWheelsCommand());
}

public ChevalDeFrise(IntakeSide intakeSide) {
    addSequential(new SetVerticalIntake(80, intakeSide));
    addParallel(new AssistedDrive(AssistedTranslateType.ENCODER, AssistedRotateType.ENCODER, 24, 0, 12));
    addSequential(new WaitCommand(1));
    addParallel(new SetVerticalIntake(20, intakeSide)); // Slowly lift arm as robot moves across
    addParallel(new AssistedDrive(AssistedTranslateType.ENCODER, AssistedRotateType.ENCODER, 12, 0, 12)); 
}

public  GiveBallToShooter(IntakeSide intakeSide) {
    if (intakeSide == IntakeSide.FRONT) {
        addParallel(new MoveTurnTable(0));
    } else {
        addParallel(new MoveTurnTable(180));
    }
    //addParallel(new MoveTurnTable((intakeSide == IntakeSide.FRONT) ? 180 : 0));
    addSequential(new MoveHood(25));
    addSequential(new SetVerticalIntake(20, intakeSide));
    addSequential(new SpinIntake(Direction.FORWARD, 1, IntakeSide.FRONT));
    //addSequential(new CheckIntakeBreakBeam(intakeSide, true, true, 0));
    addSequential(new WaitCommand(1));
    addSequential(new MoveHood(Robot.hood.HOOD_MIN)); // Forward would be positive degrees. This command traps the ball
}

public  CalibrateVisionAngle() {
    addSequential(new MoveTurnTable(Robot.turntable.CALIBRATION_START));

    for (double currentAngle = Robot.turntable.CALIBRATION_START; currentAngle < -Robot.turntable.CALIBRATION_START; currentAngle += Robot.turntable.CALIBRATION_INCREMENT) {
        addSequential(new MoveTurnTable(currentAngle));
        addSequential(new WaitCommand(0.5));
        addSequential(new CompareVisionAngle());
    }
}