自学教程：C++ AddSequential函数代码示例

AutonomousModeFastOneBall::AutonomousModeFastOneBall(){  AddSequential(new AutonomousLowGearCommand());  AddParallel(new OperatorHighCommand());  AddSequential(new AutonomousDriveCommand(1.0f, TURN_CORRECTION, 2.2));  AddSequential(new DriveLaunchReleaseCommand());}

AutonCheval::AutonCheval() : CommandGroup("AutonCheval"){	// 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 DriveForwardReach());	AddSequential(new ArmLowerLowGoal());	AddSequential(new ArmLowerLowGoal());	AddSequential(new DriveWait());	AddSequential(new DriveForwardReach());	//AddSequential(new ArmRaise());}

LowNoShoot::LowNoShoot(){	// 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 ResetGyro());	AddSequential(new FoldIntakeOut(), 1);	AddSequential(new TurnForAngle(.3, 0), .5);	AddSequential(new DriveForTime(.45,0),3.75);//	AddSequential(new AutoRollerIn(), 1);	//AddSequential(new IntakeCommand(), .1);	AddSequential(new DriveUntilClose(.4,94));}

MoveRocketLevel2::MoveRocketLevel2() {// END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=CONSTRUCTOR     // 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.              // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=COMMAND_DECLARATIONS        AddParallel(new ELRun(3));        AddSequential(new WRRun(3));        AddSequential(new EBRun(3));              // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=COMMAND_DECLARATIONS        std::printf("2135: Moved to Rocket Level 2 Position/n"); }

AlignVerticalAndHorizontal::AlignVerticalAndHorizontal(float angle){	AddSequential(new GoalAlignVertical(101));	AddSequential(new GoalAlign(angle));	//AddSequential(new DriveCommandAuto(0,0,0,.5,0));}

IntakePositionSequence::IntakePositionSequence(TurretState state, ReleaseState ball) {	AddSequential(new SetArmPosition(c_armIntakePosition));	AddParallel(new AutoIntake());	AddParallel(new SetTurretCylinder(state));	AddSequential(new BallRelease(ball));	//trigger stuff for low bar. sensors are not on robot. cannot yet happen.}

LiftContainerAuto::LiftContainerAuto() {	AddParallel(new CloseClaw());	AddParallel(new ResetToteNew());	AddSequential(new ResetClaw());	AddSequential(new CloseClaw());	AddSequential(new ContainerPositionChange(5));}

LowShot::LowShot() {  AddParallel(new PositionDrive(40));  AddSequential(new SetWinchPosition(1, true, 2));  AddParallel(new LowGoalShoot(2));  AddParallel(new Feed(2));  AddSequential(new SetWheelsTwist(2));  AddParallel(new SetWinchPosition(2, false, 4));  AddSequential(new StopShoot());  // 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.}

DriveUnderPort::DriveUnderPort(){	AddSequential(new DriveSetDistance(100));	AddSequential(new lowerEverything());	AddSequential(new DriveSetDistance(25));	AddSequential(new LiftLoader());	AddSequential(new DriveSetDistance(100));	// 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.}

AutoPos1Level2Ship::AutoPos1Level2Ship() {// END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=CONSTRUCTOR     // 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.              // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=COMMAND_DECLARATIONS                AddParallel(new EBBump(false));        AddParallel(new ELRun(0));        AddParallel(new WRRun(0));        AddSequential(new AutoDriveDist(0));        AddSequential(new AutoDriveTurn(0));        AddParallel(new INDelivery(false));        AddSequential(new AutoStop());              // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=COMMAND_DECLARATIONS }

CollectMode::CollectMode() : CommandGroup("CollectMode"){    AddParallel(new StopShooter());    AddSequential(new LowerInjectorAndOpenFingers());    AddSequential(new StartCollector());    AddSequential(new LowerBridge());}

AutoPosANYMove::AutoPosANYMove() {// END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=CONSTRUCTOR     // 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.	frc2135::RobotConfig* config = frc2135::RobotConfig::GetInstance();	double	cmdDistance;	config->GetValueAsDouble("AutoPosANYMove", cmdDistance, 97.25);	std::printf("2135: Auto Pos ANY Move - Init %5.3f inches/n", cmdDistance);              // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=COMMAND_DECLARATIONS                AddSequential(new AutoDriveDist(cmdDistance));			AddSequential(new AutoStop());              // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=COMMAND_DECLARATIONS }

AutonomousPlayLeft::AutonomousPlayLeft() {    // Add Commands here:    // e.g. AddSequential(new Command1());    //      AddSequential(new Command2());    // these will run in order.    AddParallel(new CameraUp(true));    AddSequential(new ShootNow(true, 1.5,false));    AddSequential(new DriveDistance(false,-16,125,false));    //AddSequential(new WaitTime(1.0));    AddSequential(new DriveDistance(true,85,125,false));    //AddSequential(new WaitTime(1.0));    AddParallel(new ShootNow(true, 10.0,true));    AddSequential(new DriveDistance(false,18,125,false));    AddSequential(new CameraUp(false));    // 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.}

AutonomousDriveLowBarShootLow::AutonomousDriveLowBarShootLow() {// END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=CONSTRUCTOR     // 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.              // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=COMMAND_DECLARATIONS                      // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=COMMAND_DECLARATIONS	AddSequential (new ShooterInitialize);	AddSequential (new AutonomousMotionProfile(&AutonomousDrivePastLowBar_60ips));	AddSequential (new AutonomousMotionProfile(&Rotate60Clockwise,&Rotate60Clockwise));	AddSequential (new AutonomousFireBoulderLow()); }

AutonomousCommand3::AutonomousCommand3() {	//Working 1 bin autonomous; don't delete	//This commented out code makes the robot move a recycling bin to the auto zone, uncomment if useful.	/*	AddParallel(new DriveForward250());	AddSequential(new RollersIn());	AddParallel(new DriveForward250());	AddSequential(new ElevatorUp());	AddSequential(new Turn90CounterClockwise());	AddSequential(new DriveForward750());	*/	//This is REALLY tentative.	//TODO Lot of testing	/*	AddParallel(new RollersIn());	AddSequential(new DriveForward250());	AddSequential(new Turn90CounterClockwise());	AddSequential(new DriveForward250());	*/	// This code has the robot start facing the driver's station and picks up a can and drives backward into the auto zone.	AddParallel(new DriveForward250());	AddSequential(new RollersIn());	AddSequential(new DriveForward100());	AddSequential(new ElevatorUp());	AddSequential(new DriveBackward1000());	//AddSequential(new DriveForward250());}

Launch::Launch(double speed){	// 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.//	AddParallel(new FoldIntakeIn(), 1.5);	AddSequential(new SpinUp(speed), 1.5);//	AddSequential(new PrepLaunch(speed), 1.5);	//AddSequential(new ReverseIntakeCommand(),1);	AddSequential(new ServoExtend(), 0.5);//	AddSequential(new WaitCommand(1));	AddSequential(new StopSpeed());	AddSequential(new ServoRetract(), 0.5);}

MoveToDefense::MoveToDefense(){	log = Log::getInstance();	log->write(Log::TRACE_LEVEL, "Moving to Defense");	AddSequential(new AngleIntake(90.0));	AddSequential(new DriveStraight(1.0, DriveStraight::SensorType::GYRO, 3.1)); //temporary time}

MoveAround::MoveAround(){    AddSequential(new ChangeHeading(360));    AddSequential(new ChangeDistance(36));    AddSequential(new ChangeHeading(180));    AddSequential(new ChangeDistance(36));    AddSequential(new ChangeHeading(180));}

void AutonomousCommand::Moat() {    AddParallel(new Intake_Pos(-125865));//set intake to horizontal position while intaking pre-load ball    AddSequential(new Roller_In(0.75, 0.5));//Intake preload ball    AddParallel(new Roller_Stop());    AddSequential(new AutonomousDrive(-1,0,2.5));//Drive Forward, full speed over defense    AddSequential(new AutonomousDrive(0,0,0.5));//stop after 2.5 seconds    AddSequential(new Intake_Pos(-24661));}

Auto::Auto(){	AddParallel(new SetShooterMode<ShooterOn>());	AddSequential(new AutonomousDrive<DriveStraight>(6, 0.8, 4500, 0)); // was 5200, before that 4100	AddSequential(new AutonomousDrive<DriveTurn>(2, 0.8, 0, 33.0));	AddSequential(new AutonomousDrive<DriveStraight>(3, 0.8, 450, 0));	AddSequential(new ShootBall());}

CenterGoalAuto::CenterGoalAuto(){	AddSequential(new AlignParallel(0, 110));	AddSequential(new AlignCenter());	AddSequential(new DriveCommandAuto(0, 0, 0, 1, 0));	AddSequential(new ShooterWheels(6000, 3, 0, 200));	AddSequential(new ShooterSolenoid());}

WarlockAuton::WarlockAuton() {//    // Ball 1    //	AddSequential(new ReverseBelt(true), 2.0);//      	// Ball 2	AddSequential(new WaitCommand(2.0));	AddParallel(new LoaderLoad());	AddSequential(new ReverseBelt(true));}

AutoPos1Switch::AutoPos1Switch() {// END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=CONSTRUCTOR     // 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.	frc2135::RobotConfig* config = frc2135::RobotConfig::GetInstance();	double	cmdDistLeg1 = 0.0;	double	cmdDistTurn1 = 0.0;	double	cmdDistLeg2 = 0.0;	config->GetValueAsDouble("AutoPos1SwitchLeg1", cmdDistLeg1, 145.25);	config->GetValueAsDouble("AutoPos1SwitchTurn1", cmdDistTurn1, 90.0);	config->GetValueAsDouble("AutoPos1SwitchLeg2", cmdDistLeg2, 18.0);	std::printf("2135: Auto Pos 1 Switch - Init Leg1 %4.2f in, Turn1 %4.1f deg, Leg2 %4.2f in/n",			cmdDistLeg1, cmdDistTurn1, cmdDistLeg2);	AddParallel(new GripperRun(Robot::gripper->GRIPPER_HOLD));		// Gripper should hold cube (instantaneous)	AddParallel(new ElevatorRun(Robot::elevator->SWITCH_HEIGHT));	// Elevator to switch height - takes about 1 sec	AddParallel(new WristRun(Robot::wrist->WRIST_DELIVER)); 		// Wrist ready to deliver angle < 1 sec	AddSequential(new AutoDriveDist(cmdDistLeg1)); 					// Drive to the turning point - about 1 sec																	// Gripper still holding																	// Elevator still at switch height																	// Wrist still at deliver angle	AddSequential(new AutoDriveTurn(cmdDistTurn1));					// Drive turn to aim at switch - < 1 sec																	// Gripper still holding																	// Elevator still at switch height	AddParallel(new WristRun(Robot::wrist->WRIST_FLAT));			// Wrist to flat level < 1 sec	AddSequential(new AutoDriveDist(cmdDistLeg2));					// Drive to switch < 1 sec	AddParallel(new GripperRun(Robot::gripper->GRIPPER_REVERSE));	// Expel cube (instantaneous)																	// Elevator still at switch height																	// Wrist still flat level	AddSequential(new AutoStop(), 1.0);								// Tell drive motors to explicitly stop for 1 second	AddParallel(new GripperRun(Robot::gripper->GRIPPER_STOP));		// Stop gripper	AddSequential(new AutoStop());									// Tell drive motors to explicitly stop    // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=COMMAND_DECLARATIONS     // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=COMMAND_DECLARATIONS }

SpyBoxAuto::SpyBoxAuto() : CommandGroup("SpyBoxAuto"){	AddSequential(new ArmGoTo(angle));	AddParallel(new ShooterSet(1));	AddSequential(new WaitForArm());	AddSequential(new ShooterPunchSet(DoubleSolenoid::kForward));	AddSequential(new WaitCommand(1));	AddParallel(new ShooterPunchSet(DoubleSolenoid::kReverse));	AddParallel(new ShooterSet(0));}

LoadAndFireCommand::LoadAndFireCommand(		BaseFrisbeeLoader *loader, 		BaseFrisbeeAimer *aimer, 		BaseFrisbeeTurret *turret, 		BaseFrisbeeShooter *shooter) :		CommandGroup("LoadAndFireCommand") {	AddSequential(new LoadFrisbeeCommand(loader));	AddSequential(new AimTurretCommand(aimer, turret, Tracking::ClosestOffset, 5));	AddSequential(new FireFrisbeeCommand(shooter));}

ContainersOnStepAuto::ContainersOnStepAuto() {	/*	AddParallel(new ResetToteNew());	AddParallel(new ResetClaw());	//AddParallel(new ExtendWings());	AddSequential(new JoystickAutoDrive(-.7,0,0,5000,0,0), 2);	//AddSequential(new JoystickAutoDrive(0,0,.7,0,0,-90), 1.125); //Important	AddSequential(new JoystickAutoDrive(0,0,0,0,0,0),2.5);	//AddSequential(new RetractWings());	*/	//Official	AddParallel(new ResetToteNew());	AddParallel(new ResetClaw());	AddSequential(new JoystickAutoDrive(0,0,.7,0,0,-90), 1.125);	AddParallel(new JoystickAutoDrive(0,0,0,0,0,0), 1);	AddSequential(new ExtendWings());	AddSequential(new JoystickAutoDrive(-.7,0,0,5000,0,0), 73.7 * INCH_TIME);	AddSequential(new JoystickAutoDrive(0,0,0,0,0,0), .5);	AddSequential(new JoystickAutoDrive(.7,0,0,5000,0,0), 12 * INCH_TIME);	AddSequential(new JoystickAutoDrive(0,0,0,0,0,0), 1.5);	AddSequential(new JoystickAutoDrive(.7,0,0,5000,0,0), 107 * INCH_TIME);	AddParallel(new JoystickAutoDrive(0,0,0,0,0,0), 1);	AddSequential(new JoystickAutoDrive(-.7,0,0,5000,0,0), 24 * INCH_TIME);	AddParallel(new JoystickAutoDrive(0,0,0,0,0,0), 1);	AddSequential(new RetractWings());}

Autonomous::Autonomous(int selection) : CommandGroup("Autonomous") {    // [AJN] I believe this is necessary to let the WPI code know that    // each Subsystem you are going to use is needed by the command so    // that it can ensure an instance is constructed.    // Requires(Robot::drive.get());    AddSequential(new ShootMoveFetcher());    AddSequential(new MoveFetcher(false, 1, false));    switch(selection) {    case 1: // Drive forward        AddSequential(new Move(4, .4));        break;    case 2: // Drive and shoot (lowbar)        AddSequential(new Move(3.75, .4));        AddSequential(new Rotate(48));        AddSequential(new Move(1.5, .4));        AddSequential(new Move(0, 0));        AddSequential(new ShootMoveFetcher());        break;    case 3: // Drive forward short        AddSequential(new Move(1.4, .4));        break;    default:        break;    }}

void AutonomousSequence::DoSequence(){	switch(startPosition){	case leftBack: puts("got left"); break;	case rightBack: puts("got right"); break;	case middleBack:		puts("got middle");		//In Autonomous Middle back we moved forward 0units, we should update this.		AddSequential(new AutonomousForward(0.0));		puts("Added AutonomousForward(0.0)");		break;	default: puts("hell broke loose"); break;	//to my understanding, left and right don't do anything prior to this sequence...	}		//magic number for autonomous angle is 21 degrees...		//AddSequential(new SetRawShooterStuffDontUse(shooterSpeed, elevationAngle)); //don't need	//AddSequential(new MoveShooterToSetElevationAngle(true));	//check for encoder failure	Robot::elevator->SetRawAngle(Robot::elevator->GetGoodShootingAngle());	AddSequential(new ShooterToggleOnOff()); // turns shooter on at default speed	AddSequential(new PrintCommand("turning shooter on/n"));	AddSequential(new MoveShooterToSetElevationAngle(true));	AddSequential(new PrintCommand("moved shooter to set angle"));	AddSequential(new WaitUntilCommand(GetAutonomousWaitTime()));	AddSequential(new PrintCommand("Waited 7 Seconds/n"));	AddSequential(new SpinFeeder()); //shoots all discs	AddSequential(new PrintCommand("Spun the feeder.../n"));}

SimpleAuton::SimpleAuton() {	AddSequential(new ArmLower());	AddParallel(new RollerSpin(false, true));//	AddSequential(new JoystickAutoDrive(1, -1), TIME_TO_DRIVE);	AddSequential(new DriveToDistance(DIST_TO_WALL, true));	AddParallel(new JoystickAutoDrive(0, 0));	AddParallel(new BallToShooter(), .7);	AddSequential(new WaitCommand(1));	AddSequential(new Fire(1, true));	AddParallel(new RollerStop());	AddParallel(new ArmRaise());}

GrabNGoAuto::GrabNGoAuto(){	AddSequential(new SetOffSet(180));	//FALSE IS CLOSE, TRUE IS OPEN	printf("grabandgoauto 0/n");	//side, fow, rot, yaw, time	AddSequential(new PneumaticsAuto(true, true, false));	//printf("grabandgoauto 1/n");	AddSequential(new DriveWhileWinching(0.0, 0.5, 0.0, 0.0, 1.95, 1, 1));	//printf("grabandgoauto 2/n");	//printf("grabandgoauto 3/n");}