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29 lines
947 B
Python
29 lines
947 B
Python
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#
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# Copyright (c) FIRST and other WPILib contributors.
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# Open Source Software; you can modify and/or share it under the terms of
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# the WPILib BSD license file in the root directory of this project.
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#
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import commands2
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from commands.drivedistance import DriveDistance
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from commands.turndegrees import TurnDegrees
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from subsystems.drivetrain import Drivetrain
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class AutonomousDistance(commands2.SequentialCommandGroup):
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def __init__(self, drive: Drivetrain) -> None:
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"""Creates a new Autonomous Drive based on distance. This will drive out for a specified distance,
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turn around and drive back.
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:param drivetrain: The drivetrain subsystem on which this command will run
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"""
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super().__init__()
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self.addCommands(
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DriveDistance(-0.5, 10, drive),
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TurnDegrees(-0.5, 180, drive),
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DriveDistance(-0.5, 10, drive),
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TurnDegrees(0.5, 180, drive),
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)
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