Java WaitCommand类代码示例

import edu.wpi.first.wpilibj.command.WaitCommand; //导入依赖的package包/类
public CenterGearAutonomous() {

		double centerGearAutoSpeed = Preferences.getInstance().getDouble(RobotMap.centerGearAutoSpeed, 0.0);
		double centerGearAutoDistance = Preferences.getInstance().getDouble(RobotMap.centerGearAutoDistance, 0.0);
		double autoWaitTime = Preferences.getInstance().getDouble(RobotMap.autoWaitTime, 0.0);
		double wiggleForward = Preferences.getInstance().getDouble(RobotMap.wiggleForward, 0.0);

		addSequential(new DriveStraightAuto(centerGearAutoDistance, centerGearAutoSpeed));
		addSequential(new TurnAngle(3));
		addSequential(new TurnAngle(-6));
		addSequential(new TurnAngle(3));
		addSequential(new DriveStraightAuto(wiggleForward, centerGearAutoSpeed));
		addSequential(new WaitCommand(autoWaitTime));
		addParallel(new DownManipulator());
		addParallel(new ReverseManipulatorMotors());
		// addSequential(new WaitCommand(autoWaitTime));
		addSequential(new DriveStraightAuto(centerGearAutoDistance / 2, -centerGearAutoSpeed));
		addSequential(new WaitCommand(autoWaitTime / 2));
		addSequential(new DriveStraightAuto(centerGearAutoDistance / 3, centerGearAutoSpeed));
		addSequential(new ManipulatorMotorOff());
		addSequential(new UpManipulator());
	}
 

import edu.wpi.first.wpilibj.command.WaitCommand; //导入依赖的package包/类
public VisionAlignment() {
	
	table = NetworkTable.getTable("Vision");
	double dist = table.getNumber("est_distance", 0);

	double incr = 0.5;
	int reps = (int) (dist / incr);
	
	for(int i = 0; i<reps; i++) {
		addSequential(new VisionGyroAlign(), 1.5);
		addSequential(new WaitCommand(0.7));
		addSequential(new DriveForwardDistance(-.2,-.2, -incr/1.5, -incr/1.5, true));
		addSequential(new WaitCommand(0.5));
	}
	
}
 

import edu.wpi.first.wpilibj.command.WaitCommand; //导入依赖的package包/类
public PaperWeightAuto() {
	// Add Commands here:
	// e.g. addSequential(new Command1());
	// addSequential(new Command2());
	// these will run in order.

	// To run multiple commands at the same time,
	// use addParallel()
	// e.g. addParallel(new Command1());
	// addSequential(new Command2());
	// Command1 and Command2 will run in parallel.

	// A command group will require all of the subsystems that each member
	// would require.
	// e.g. if Command1 requires chassis, and Command2 requires arm,
	// a CommandGroup containing them would require both the chassis and the
	// arm.
	addSequential(new WaitCommand(15));
}
 

import edu.wpi.first.wpilibj.command.WaitCommand; //导入依赖的package包/类
public  FreeFire(boolean menzieShot) {
	//addSequential(new WaitForLock());
	//addSequential(new AutonomousTrack());
	
	if (menzieShot) {
		addSequential(new MenzieAlign(false));
	} else {
		addSequential(new HorizontalAlign(false));
	}
	
	addSequential(new MoveShootingWheel(Robot.shootingWheel.CONSTANT_SPEED));
	addSequential(new VerticalAlign(false));
	addSequential(new WaitCommand(0.25));
	addSequential(new FireShooter());
	addSequential(new MoveShootingWheel(0));
}
 

import edu.wpi.first.wpilibj.command.WaitCommand; //导入依赖的package包/类
public  ChevalDeFriseCommand() { //boolean shoot    	
//    	addParallel(new DriveStraightCommand(60,.5));
//    	addSequential(new GetRotation());
//    	addSequential(new Pitch(60, .7, 5));
    	addSequential(new DriveStraightCommandAndStop(60, .7 , 20));
    	addSequential(new WaitCommand(.5));
    	addSequential(new DefenseBusterSetpointCommand(Robot.defenseBuster.MAX_VALUE));
    	addSequential(new WaitCommand(.45));
    	addSequential(new DriveStraightCommand(30,.8));
    	addSequential(new DefenseBusterSetpointCommand(Robot.defenseBuster.MIN_VALUE));
    	addSequential(new DriveStraightCommand(75,.8));
        // Do vision if shooting.
        //finishAuto(shoot);
        //addSequential(new DriveStraightCommand(30,.9));

    	requires(Robot.chassis);
    	requires(Robot.defenseBuster);
    	//this.shoot = shoot;
    }
 

import edu.wpi.first.wpilibj.command.WaitCommand; //导入依赖的package包/类
public  SingleTote() {
	
	addSequential(new DoubleAutoCollect());
	addParallel(new DoubleAutoRaiseToteToFirstLevel());
	addSequential(new DoubleAutoTurnToAutoZone());
	addSequential(new WaitCommand(0.5));
	addSequential(new DoubleAutoDriveToAutoZone());
	
    // Add Commands here:
    // e.g. addSequential(new Command1());
    //      addSequential(new Command2());
    // these will run in order.

    // To run multiple commands at the same time,
    // use addParallel()
    // e.g. addParallel(new Command1());
    //      addSequential(new Command2());
    // Command1 and Command2 will run in parallel.

    // A command group will require all of the subsystems that each member
    // would require.
    // e.g. if Command1 requires chassis, and Command2 requires arm,
    // a CommandGroup containing them would require both the chassis and the
    // arm.
}
 

import edu.wpi.first.wpilibj.command.WaitCommand; //导入依赖的package包/类
public SimpleAutonomous() {
    // Add Commands here:
    // e.g. addSequential(new Command1());
    //      addSequential(new Command2());
    // these will run in order.

    // To run multiple commands at the same time,
    // use addParallel()
    // e.g. addParallel(new Command1());
    //      addSequential(new Command2());
    // Command1 and Command2 will run in parallel.

    // A command group will require all of the subsystems that each member
    // would require.
    // e.g. if Command1 requires chassis, and Command2 requires arm,
    // a CommandGroup containing them would require both the chassis and the
    // arm.
    addSequential(new WaitCommand(1.0));
    addSequential(new ResetGyroCommand(Math.PI));
    addSequential(new DriveTimeCommand(3.75, 0.167, 0.5, 0.0, -1.0));
    addSequential(new WaitCommand(3.0));
    addSequential(new BunnyLaunch(), 1.0);        
}
 

import edu.wpi.first.wpilibj.command.WaitCommand; //导入依赖的package包/类
public CalibrateWinch() {
	// Calibrates Encoder
	addSequential(new ResetShooterEncoder());
	addSequential(new CalibrateShooterEncoderTop());
	// Shoots the Ball
	addSequential(new ShootBall());
	addSequential(new WaitCommand(.1));
	// Unlatches for when we pull back down
	addSequential(new UnlatchTheLatch());
	// Pulls the winch back up, and calibrates it as the bottom
	addSequential(new PullBackShooter());
	addSequential(new CalibrateShooterEncoderBottom());
	addSequential(new WaitCommand(.1));
	// Latches
	addSequential(new LatchTheLatch());
	addSequential(new WaitCommand(.5));
	// Calibrates then Unwinds
	addSequential(new UnwindWinch());
}
 

import edu.wpi.first.wpilibj.command.WaitCommand; //导入依赖的package包/类
public ShootAndCalibrate() {
	// Shoots the Ball
	addSequential(new ShootBall());
	addSequential(new WaitCommand(.5));
	// Calibrates Encoder
	addSequential(new ResetShooterEncoder());
	addSequential(new CalibrateShooterEncoderTop());
	// Unlatches for when we pull back down
	addSequential(new UnlatchTheLatch());
	// Pulls the winch back up
	addSequential(new PullBackShooter());
	addSequential(new WaitCommand(.1));
	// Latches
	addSequential(new LatchTheLatch());
	addSequential(new WaitCommand(.1));
	// Calibrates then Unwinds
	addSequential(new CalibrateShooterEncoderBottom());
	addSequential(new UnwindWinch());
}
 

import edu.wpi.first.wpilibj.command.WaitCommand; //导入依赖的package包/类
public DriveAndShoot(){
    addParallel(_waitAndDetect());
    addSequential(new Shift(true));
    addSequential(new WaitCommand(0.25));
    addSequential(new DriveForward(1, 2800));
    addSequential(new Conditional(new WaitCommand(.01), new WaitCommand(3)) { //may lower wait time on the waitcommand
        protected boolean condition() {
            return foundHotTarget;
        }
    });
    addSequential(new SetArmPosition(1));
    addParallel(new PreFire());
    addSequential(new SetArmPosition(2));
    addSequential(new WaitCommand(1));
    addSequential(new Launch());
    addSequential(new Reset());
}
 

import edu.wpi.first.wpilibj.command.WaitCommand; //导入依赖的package包/类
public DriveAndShoot2Ball() {
        addSequential(new Shift(true));
        addSequential(new SetLatched(true));
        addSequential(new SetArmPosition(2,false));
        addParallel(new SpinRoller((float) -0.6));
        addSequential(new WaitCommand(0.3));
        addParallel(_waitAndLetRoll());
        addSequential(new DriveForward(1, 4200));
        addSequential(new WaitCommand(1.0));
        addSequential(new WaitForChildren());
//        addSequential(new );
        addSequential(new Launch());
        addParallel(_waitAndIntake());
        addSequential(new Reset());
        addParallel(new PreFire());
        addSequential(new WaitCommand(0.5));
        addSequential(new SpinRoller(0));
        addSequential(new SetArmPosition(0, false));
        addSequential(new WaitCommand(0.5));
        addSequential(new SetArmPosition(2, false));
        addSequential(new WaitCommand(1.0));
        addSequential(new Launch());
        addSequential(new Reset());
    }
 

import edu.wpi.first.wpilibj.command.WaitCommand; //导入依赖的package包/类
protected void initialize() {
    if(condition()) {
        _running = _ifTrue;
    } else {
        _running = _ifFalse;
    }
    if(_running != null) {
        if(_running.getCommand() instanceof WaitCommand) {
            _running.getCommand().start();
        } else {
            _running._initialize();
            _running.initialize();
        }
    }
    _firstRun = true;
}
 

import edu.wpi.first.wpilibj.command.WaitCommand; //导入依赖的package包/类
public TestNets() {
	addSequential(new Output("Starting Net Test"));
	addSequential(new SetState(Subsystems.nets, State.CLOSED, Nets.CLOSE_SPEED));
	
	addSequential(new SetState(Subsystems.nets.leftNet, State.OPEN, Nets.OPEN_SPEED));
	
	addSequential(new WaitCommand(3.0d));
	addSequential(new SetState(Subsystems.nets.rightNet, State.OPEN, Nets.OPEN_SPEED));
	
	addSequential(new WaitCommand(3.0d));
	addSequential(new SetState(Subsystems.nets.rightNet, State.CLOSED, Nets.CLOSE_SPEED));
	
	addSequential(new WaitCommand(3.0d));
	addSequential(new SetState(Subsystems.nets.leftNet, State.CLOSED, Nets.CLOSE_SPEED));
	
	addSequential(new WaitCommand(3.0d));
	addSequential(new SetState(Subsystems.nets, State.OPEN, Nets.OPEN_SPEED));
	
	addSequential(new WaitCommand(3.0d));
	addSequential(new SetState(Subsystems.nets, State.CLOSED, Nets.CLOSE_SPEED));
	
	addSequential(new Output("Net Test Complete"));
}
 

import edu.wpi.first.wpilibj.command.WaitCommand; //导入依赖的package包/类
public DriveBox() {
	requires(Subsystems.driveTrain);
	addSequential(new DriveAtSpeed(0.3d),1.0d);
	addSequential(new WaitCommand(0.2));
	addSequential(new TurnRelativeAngle(90));
	addSequential(new WaitCommand(0.2));
	addSequential(new DriveAtSpeed(0.3d),1.0d);
	addSequential(new WaitCommand(0.2));
	addSequential(new TurnRelativeAngle(90));
	addSequential(new WaitCommand(0.2));
	addSequential(new DriveAtSpeed(0.3d),1.0d);
	addSequential(new WaitCommand(0.2));
	addSequential(new TurnRelativeAngle(90));
	addSequential(new WaitCommand(0.2));
	addSequential(new DriveAtSpeed(0.3d),1.0d);
	addSequential(new WaitCommand(0.2));
	addSequential(new TurnRelativeAngle(90));
	addSequential(new WaitCommand(0.2));
}
 

import edu.wpi.first.wpilibj.command.WaitCommand; //导入依赖的package包/类
public AutonomousCommand() {
	setTimeout(15);
	
	// Calibrates the shooter by moving it all the way down
	addSequential(new AutonomousCalibrate());
	
	// Sets the angle to Autonomous, so it can shoot
	addSequential(new AutonomousSetAngle());
	
	// Speeds up the shooter motors
	addParallel(new AutonomousSpeedUp()); // Initially spins up shooter motors
	// Waits for the motors to spin up or it to "timeout", and
	// waits for the angle to get to the setpoint
	addSequential(new WaitOrShoot(5));
	// Waits an extra second for good measure
	addSequential(new WaitCommand(1));
	
	// Shoots the frisbees
	addSequential(new AutonomousShootFrisbees(0.2, 1));
	
	// Spins down the motors
	addSequential(new AutonomousSpeedDown());
	
	// Do a dance
	addSequential(new AutonomousDance());
}