Merge remote-tracking branch 'origin/master' into Intake/#203-selfTest

frc5687 · Mar 2, 2018 · 34e08ab · 34e08ab
2 parents 6fb69c9 + 5883237
commit 34e08ab
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Showing 4 changed files with 0 additions and 10 deletions.
diff --git a/src/main/java/org/frc5687/powerup/robot/commands/auto/IntakeToDrive.java b/src/main/java/org/frc5687/powerup/robot/commands/auto/IntakeToDrive.java
@@ -12,7 +12,6 @@ public class IntakeToDrive extends CommandGroup {
     public IntakeToDrive(Carriage carriage, Arm arm) {
         int ENCODER_DRIVE = carriage.isCompetitionBot() ? Constants.Carriage.ENCODER_DRIVE_COMP : Constants.Carriage.ENCODER_DRIVE_PROTO;
         double DRIVE = arm.isCompetitionBot() ? Constants.Arm.Pot.DRIVE_COMP : Constants.Arm.Pot.DRIVE_PROTO;
-        addSequential(new ClearBumpersIfNeeded(carriage));
         addParallel(new MoveArmToSetpointPID(arm, DRIVE));
         addSequential(new MoveCarriageToSetpointPID(carriage, ENCODER_DRIVE));
     }

diff --git a/src/main/java/org/frc5687/powerup/robot/commands/auto/IntakeToFloor.java b/src/main/java/org/frc5687/powerup/robot/commands/auto/IntakeToFloor.java
@@ -7,15 +7,11 @@
 import org.frc5687.powerup.robot.subsystems.Arm;
 import org.frc5687.powerup.robot.subsystems.Carriage;
 
-/**
- * Created by Ben Bernard on 2/4/2018.
- */
 public class IntakeToFloor extends CommandGroup {
 
     public IntakeToFloor(Carriage carriage, Arm arm) {
         int ENCODER_BOTTOM = carriage.isCompetitionBot() ? Constants.Carriage.ENCODER_BOTTOM_COMP : Constants.Carriage.ENCODER_BOTTOM_PROTO;
         double INTAKE = arm.isCompetitionBot() ? Constants.Arm.Pot.INTAKE_COMP : Constants.Arm.Pot.INTAKE_PROTO;
-        addSequential(new ClearBumpersIfNeeded(carriage));
         addParallel(new MoveArmToSetpointPID(arm, INTAKE));
         addSequential(new MoveCarriageToSetpointPID(carriage, ENCODER_BOTTOM));
     }

diff --git a/src/main/java/org/frc5687/powerup/robot/commands/auto/IntakeToScale.java b/src/main/java/org/frc5687/powerup/robot/commands/auto/IntakeToScale.java
@@ -11,7 +11,6 @@ public class IntakeToScale extends CommandGroup {
 
     public IntakeToScale(Carriage carriage, Arm arm) {
         int ENCODER_TOP = carriage.isCompetitionBot() ? Constants.Carriage.ENCODER_TOP_COMP : Constants.Carriage.ENCODER_TOP_PROTO;
-        addSequential(new ClearBumpersIfNeeded(carriage));
         addParallel(new MoveCarriageToSetpointPID(carriage, ENCODER_TOP));
         addParallel(new MoveArmToSetpointPID(arm, Constants.Arm.ENCODER_TOP));
     }

diff --git a/src/main/java/org/frc5687/powerup/robot/commands/auto/IntakeToSwitch.java b/src/main/java/org/frc5687/powerup/robot/commands/auto/IntakeToSwitch.java
@@ -7,14 +7,10 @@
 import org.frc5687.powerup.robot.subsystems.Arm;
 import org.frc5687.powerup.robot.subsystems.Carriage;
 
-/**
- * Created by Ben Bernard on 2/4/2018.
- */
 public class IntakeToSwitch extends CommandGroup {
 
     public IntakeToSwitch(Carriage carriage, Arm arm) {
         int ENCODER_MIDDLE = carriage.isCompetitionBot() ? Constants.Carriage.ENCODER_MIDDLE_COMP : Constants.Carriage.ENCODER_MIDDLE_PROTO;
-        addSequential(new ClearBumpersIfNeeded(carriage));
         addParallel(new MoveCarriageToSetpointPID(carriage, ENCODER_MIDDLE));
         addParallel(new MoveArmToSetpointPID(arm, 78));
     }