Command Groups

IntakeCargo

1. Intake goes down and spins inward at the same time
2. Stops spinning immediately after beam break is activated
3. Intake goes up
4. Spins backwards into chute

Climbing

1. Drive forward to align
2. PID Control while lowering ball intake and stilts going down (controlled by NavX and rollers are still rolling)
3. Drive forward
4. Lift intake
5. Lift stilts and drive forward

Driving And Aligning

1. Drive
2. Align

Score Game Piece

1. Align using Gantry
2. Elevator goes up
3. Pistons push claw out
4. Open claw
5. Pistons Close/Pull Claw Back
6. Collapse Elevator

Get Hatch/Cargo from HPS

1. Drive while aligning/Center Gantry/Open Claw
2. Close Claw
3. Back up