allwpilib/robotpyExamples/HatchbotTraditional/commands/complexauto.py

#
# Copyright (c) FIRST and other WPILib contributors.
# Open Source Software; you can modify and/or share it under the terms of
# the WPILib BSD license file in the root directory of this project.
#

import commands2

import constants

from .drivedistance import DriveDistance
from .releasehatch import ReleaseHatch

from subsystems.drivesubsystem import DriveSubsystem
from subsystems.hatchsubsystem import HatchSubsystem


class ComplexAuto(commands2.SequentialCommandGroup):
    """
    A complex auto command that drives forward, releases a hatch, and then drives backward.
    """

    def __init__(self, drive: DriveSubsystem, hatch: HatchSubsystem):
        super().__init__(
            # Drive forward the specified distance
            DriveDistance(
                constants.kAutoDriveDistanceInches, constants.kAutoDriveVelocity, drive
            ),
            # Release the hatch
            ReleaseHatch(hatch),
            # Drive backward the specified distance
            DriveDistance(
                constants.kAutoBackupDistanceInches,
                -constants.kAutoDriveVelocity,
                drive,
            ),
        )