// RobotBuilder Version: 2.0
//
// This file was generated by RobotBuilder. It contains sections of
// code that are automatically generated and assigned by robotbuilder.
// These sections will be updated in the future when you export to
// Java from RobotBuilder. Do not put any code or make any change in
// the blocks indicating autogenerated code or it will be lost on an
// update. Deleting the comments indicating the section will prevent
// it from being updated in the future.


package org.usfirst.frc5933.StevenDave.commands;

import edu.wpi.first.wpilibj.command.CommandGroup;
import org.usfirst.frc5933.StevenDave.subsystems.*;

/**
 *
 */
public class SpyBox extends CommandGroup {


    // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=PARAMETERS
    public SpyBox() {

        // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=PARAMETERS
        // 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
        addParallel(new LiftingArmDown(1));

        double path6Speed = -0.5;
        //Spy Box to Lower Window 1

        //TODO: Position unknown, will have to change lengths and degrees

        double l1 = 60;
        double l2 = 110;
        double dg1 = 45;
        double dg2 = 90;


        addSequential(new GyroTurnDegrees(path6Speed, dg1)); //May have to initially turn 
        addSequential(new GyroDriveStraight(path6Speed, l1)); 
        addSequential(new GyroTurnDegrees(path6Speed, dg2));
        addSequential(new GyroDriveStraight(path6Speed, l2)); 
        addSequential(new ToggleReverseSpindle(5));
    } 
}

@@ -1999,103 +1999,15 @@
 new 
-GyroTurnDegrees(path6Speed, dg1)); //May have to initially turn %0A        addSequential(new Gyro
+Encoder
 Driv
@@ -2020,26 +2020,14 @@
 ght(
-path6Speed, l
+12
 1));
- 
 %0A   
@@ -2053,105 +2053,34 @@
 new 
-GyroTurnDegrees(path6Speed, dg2));%0A        addSequential(new GyroDriveStraight(path6Speed, l2
+EncoderDriveStraight(30
 ));
- 
 %0A   
@@ -2083,33 +2083,31 @@
 %0A        add
-Sequentia
+Paralle
 l(new Toggle
@@ -2121,17 +2121,17 @@
 Spindle(
-5
+4
 ));%0A    

Change spy box strategy.