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-rw-r--r--src/org/usfirst/frc/team4272/robot2017/Autonomous.java10
1 files changed, 6 insertions, 4 deletions
diff --git a/src/org/usfirst/frc/team4272/robot2017/Autonomous.java b/src/org/usfirst/frc/team4272/robot2017/Autonomous.java
index 8e5846a..28ec580 100644
--- a/src/org/usfirst/frc/team4272/robot2017/Autonomous.java
+++ b/src/org/usfirst/frc/team4272/robot2017/Autonomous.java
@@ -96,8 +96,9 @@ public class Autonomous {
modeChooser.addObject("Left Peg", robot->new Command[]{
init,
driveDistance(robot, 0.4, 8.4),
- turnDegrees(robot, 0.4, 70),
- driveDistance(robot, 0.4, 2.16),
+ turnDegrees(robot, 0.4, 71),
+ timeout(2.5, driveDistance(robot, 0.4, 2.16)),
+ stop,
timeout(1.0, c->false),
c->{c.gedOut = true; return true;},
timeout(1.0, c->false),
@@ -110,8 +111,9 @@ public class Autonomous {
modeChooser.addObject("Right Peg", robot->new Command[]{
init,
driveDistance(robot, 0.4, 8.4),
- turnDegrees(robot, 0.4, -70),
- driveDistance(robot, 0.4, 2.16),
+ turnDegrees(robot, 0.4, -71),
+ timeout(2.5, driveDistance(robot, 0.4, 2.16)),
+ stop,
timeout(1.0, c->false),
c->{c.gedOut = true; return true;},
timeout(1.0, c->false),