Adjusted auto for the can burglars

Team708 · Apr 21, 2015 · 4711076 · 4711076
1 parent 0a0a0f7
commit 4711076
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Showing 3 changed files with 8 additions and 1 deletion.
diff --git a/src/org/team708/robot/AutoConstants.java b/src/org/team708/robot/AutoConstants.java
@@ -27,7 +27,7 @@ public final class AutoConstants {
 	/*
 	 * Can Grabbing Constants
 	 */
-	public static final double TO_CAN_DISTANCE = 26.0;
+	public static final double TO_CAN_DISTANCE = 27.5;
 	public static final double TO_SECOND_CAN_DISTANCE = 63.0;
 
 	/*

diff --git a/src/org/team708/robot/commands/autonomous/encoder/CanGrabMoveBack.java b/src/org/team708/robot/commands/autonomous/encoder/CanGrabMoveBack.java
@@ -6,6 +6,7 @@
 import org.team708.robot.commands.gucciGrabber.ActuateGucciGrabber;
 
 import edu.wpi.first.wpilibj.command.CommandGroup;
+import edu.wpi.first.wpilibj.command.WaitCommand;
 
 /**
  *
@@ -17,6 +18,7 @@ public  CanGrabMoveBack() {
 
         addSequential(new DriveStraightToEncoderDistance(AutoConstants.TO_CAN_DISTANCE, 0.65, false));
         addSequential(new ActuateGucciGrabber(true));
+        addSequential(new WaitCommand(0.1));
 
         addSequential(new DriveStraightToEncoderDistance(AutoConstants.TO_CAN_DISTANCE, 0.65));
     }

diff --git a/src/org/team708/robot/commands/autonomous/encoder/CanGrabMoveToNext.java b/src/org/team708/robot/commands/autonomous/encoder/CanGrabMoveToNext.java
@@ -7,6 +7,7 @@
 import org.team708.robot.commands.gucciGrabber.ActuateGucciGrabber;
 
 import edu.wpi.first.wpilibj.command.CommandGroup;
+import edu.wpi.first.wpilibj.command.WaitCommand;
 
 /**
  *
@@ -18,13 +19,17 @@ public  CanGrabMoveToNext() {
 
         addSequential(new DriveStraightToEncoderDistance(AutoConstants.TO_CAN_DISTANCE, AutoConstants.ENCODER_SPEED, false));
         addSequential(new ActuateGucciGrabber(true));
+        addSequential(new WaitCommand(0.1));
 
         addSequential(new DriveStraightToEncoderDistance(AutoConstants.TO_CAN_DISTANCE, AutoConstants.ENCODER_SPEED));
+        addSequential(new ActuateGucciGrabber(false));
         addSequential(new TurnToDegrees(AutoConstants.TURN_SPEED, AutoConstants.NINETY_DEGREE_TURN));
         addSequential(new DriveStraightToEncoderDistance(AutoConstants.TO_SECOND_CAN_DISTANCE, AutoConstants.ENCODER_SPEED));
 
         addSequential(new TurnToDegrees(AutoConstants.TURN_SPEED, -AutoConstants.NINETY_DEGREE_TURN));
+        addSequential(new DriveStraightToEncoderDistance(AutoConstants.TO_CAN_DISTANCE, AutoConstants.ENCODER_SPEED, false));
         addParallel(new ActuateGucciGrabber(true));
+        addSequential(new WaitCommand(0.1));
         addSequential(new DriveStraightToEncoderDistance(AutoConstants.TO_CAN_DISTANCE, AutoConstants.ENCODER_SPEED, false));
     }
 }