Merge pull request #1 from kevinzwang/lift-auto

Lift auto implementation (EjectTo...'s)

Author: lhmcgann

Robot2018/src/org/usfirst/frc/team199/Robot2018/commands/EjectToExchange.java

@@ -1,36 +1,16 @@
 package org.usfirst.frc.team199.Robot2018.commands;
 
-import edu.wpi.first.wpilibj.command.Command;
+import org.usfirst.frc.team199.Robot2018.Robot;
+
+import edu.wpi.first.wpilibj.command.CommandGroup;
 
 /**
  *
  */
-public class EjectToExchange extends Command {
+public class EjectToExchange extends CommandGroup {
 
     public EjectToExchange() {
-        // Use requires() here to declare subsystem dependencies
-        // eg. requires(chassis);
-    }
-
-    // Called just before this Command runs the first time
-    protected void initialize() {
-    }
-
-    // Called repeatedly when this Command is scheduled to run
-    protected void execute() {
-    }
-
-    // Make this return true when this Command no longer needs to run execute()
-    protected boolean isFinished() {
-        return false;
-    }
-
-    // Called once after isFinished returns true
-    protected void end() {
-    }
-
-    // Called when another command which requires one or more of the same
-    // subsystems is scheduled to run
-    protected void interrupted() {
+        addSequential(new LiftToPosition(Robot.lift, "GROUND"));
+        addSequential(new OuttakeCube());
     }
 }

Robot2018/src/org/usfirst/frc/team199/Robot2018/commands/EjectToScale.java

@@ -1,36 +1,19 @@
 package org.usfirst.frc.team199.Robot2018.commands;
 
-import edu.wpi.first.wpilibj.command.Command;
+import org.usfirst.frc.team199.Robot2018.Robot;
+
+import edu.wpi.first.wpilibj.command.CommandGroup;
 
 /**
  *
  */
-public class EjectToScale extends Command {
+public class EjectToScale extends CommandGroup {
 
     public EjectToScale() {
-        // Use requires() here to declare subsystem dependencies
-        // eg. requires(chassis);
-    }
-
-    // Called just before this Command runs the first time
-    protected void initialize() {
-    }
-
-    // Called repeatedly when this Command is scheduled to run
-    protected void execute() {
-    }
-
-    // Make this return true when this Command no longer needs to run execute()
-    protected boolean isFinished() {
-        return false;
-    }
-
-    // Called once after isFinished returns true
-    protected void end() {
-    }
-
-    // Called when another command which requires one or more of the same
-    // subsystems is scheduled to run
-    protected void interrupted() {
+    		addSequential(new LiftToPosition(Robot.lift, "SCALE"));
+		addSequential(new PIDMove(Robot.getConst("Auto Scale Move Dist", 12), Robot.dt, Robot.sd, Robot.dt.getDistEncAvg()));
+		addSequential(new OuttakeCube());
+		addSequential(new PIDMove(-1 * Robot.getConst("Auto Scale Move Dist", 12), Robot.dt, Robot.sd, Robot.dt.getDistEncAvg()));
+		addSequential(new LiftToPosition(Robot.lift, "GROUND"));
     }
 }

Robot2018/src/org/usfirst/frc/team199/Robot2018/commands/EjectToSwitch.java

@@ -1,36 +1,19 @@
 package org.usfirst.frc.team199.Robot2018.commands;
 
-import edu.wpi.first.wpilibj.command.Command;
+import org.usfirst.frc.team199.Robot2018.Robot;
+
+import edu.wpi.first.wpilibj.command.CommandGroup;
 
 /**
  *
  */
-public class EjectToSwitch extends Command {
+public class EjectToSwitch extends CommandGroup {
 
     public EjectToSwitch() {
-        // Use requires() here to declare subsystem dependencies
-        // eg. requires(chassis);
-    }
-
-    // Called just before this Command runs the first time
-    protected void initialize() {
-    }
-
-    // Called repeatedly when this Command is scheduled to run
-    protected void execute() {
-    }
-
-    // Make this return true when this Command no longer needs to run execute()
-    protected boolean isFinished() {
-        return false;
-    }
-
-    // Called once after isFinished returns true
-    protected void end() {
-    }
-
-    // Called when another command which requires one or more of the same
-    // subsystems is scheduled to run
-    protected void interrupted() {
+    		addSequential(new LiftToPosition(Robot.lift, "SWITCH"));
+    		addSequential(new PIDMove(Robot.getConst("Auto Switch Move Dist", 12), Robot.dt, Robot.sd, Robot.dt.getDistEncAvg()));
+    		addSequential(new OuttakeCube());
+    		addSequential(new PIDMove(-1 * Robot.getConst("Auto Switch Move Dist", 12), Robot.dt, Robot.sd, Robot.dt.getDistEncAvg()));
+    		addSequential(new LiftToPosition(Robot.lift, "GROUND"));
     }
 }