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Command Groups
Command groups can be used to organize many commands. Multiple commands can be enabled at once for a given subsystem if a parallel command is issued from a command group. Command groups are ideal for designing an autonomous sequence because these commands can be either scheduled sequentially or in parallel.
The DefaultAuto is the default command group that runs in the autonomous period. It enables the robot to drive over a defense from the neutral zone by driving the robot for half speed, then for full speed, and back at half speed again via the DriveFixed and DriveDefense commands. Both commands take in a tolerance value for how long each command should run, however, DriveFixed runs the drivetrain motors at half speed with DriveDefense running it at full speed.
The DrivePortcullis command group uses the same technique as DefaultAuto in crossing a defense, but also opens the pneumatic cylinders attached to the arms via the OpenCylinders command at the beginning of the sequence and closes them via the CloseCylinders command at the end of the sequence. This command group was added after the second district event during the NC State Championship.
The LiftAndDrive command group was never used in competitions. Its original intent was to lift the portcullis after driving for a fixed amount at half speed and continuing to drive full speed over the defense like the DefaultAuto command group.
The PullAndDrive command group was never used in competitions. Its original intent was to pull the sally port after driving for a fixed amount at half speed and continuing to drive full speed over the defense like the DefaultAuto command group.