Software/Code

In this class, public OI, pushing the appropriate button will cause the robot to perform the command.

abutton: Will Retract the front piston

ybutton: Will extend the front hatch

xbutton: Will retract the sideways hatch

bbutton: Will extend the sideways hatch

rightbumper: Will score a hatch by calling three commands in a row with an amount of time between.

leftbumper: Will collect a hatch by calling three commands in a row with an amount of time between.

In this snip it shows how our code tells the robot to Collect the hatch, when we hit the appropriate button(left bumper). We adjusted the time between each command to have it run faster (for example 0.2 seconds between the 1st and 2nd command).

This is the sideways hatch extend command, which calls the sidewaysHatchExtend method once.

The above picture is where we construct our objects and create methods to perform tasks that are called "in commands." These objects (solenoids) are linked to electrical ports on our control modules.