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AutonomousZone3.java
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AutonomousZone3.java
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package demoman;
/*
* Team 3181 Robotics
* Project: Breakaway
* Codename: Demoman
* (The Chargin Scottsman)
* Filename: AutonomousZone2.java
*/
/**
* This class contains the autonomous program "AutonomousZone3"
*
*/
public class AutonomousZone3 {
static void run(){
System.out.println("AutonomousZone3");
if (Hardware.ballSensor.get()) {
Kicking.kickBall();
}
double timerValue=Demoman.autonomousTimer.get();
if(timerValue<.5){
Hardware.robotDrive.stop();
}
else if(timerValue<2.0){
Hardware.robotDrive.driveAtSpeed(-.35, -.35);
}
else if(timerValue<2.9){
Hardware.robotDrive.stop();
Kicking.kickBall();
}
else if(timerValue<3.5){
//Rotate right 45 degrees
Hardware.robotDrive.driveAtSpeed(.6,-.6);
}
else if(timerValue<5.8){
Hardware.robotDrive.driveAtSpeed(-0.35,-0.35);
}
else if (timerValue<6.2) {
Hardware.robotDrive.stop();
Kicking.kickBall();
} else if (timerValue < 6.65) {
Hardware.robotDrive.driveAtSpeed(-.35,-.35);
} else if (timerValue < 7.18) {
// Rotate left 45 degrees
Hardware.robotDrive.driveAtSpeed(-0.6, 0.6);
} else if (timerValue < 8.5) {
Hardware.robotDrive.driveAtSpeed(-.35, -.35);
} else {
Hardware.robotDrive.stop();
Kicking.kickBall();
}
}
}