- // TODO: need to add sequential for retracting the arms and shooting hood once those commands are made
- addSequential(new DriveForDistance(DISTANCE, DEFAULT_SPEED));
- }
-
- public PassLowBar(double speed) {
- addSequential(new DriveForDistance(DISTANCE, speed));
+ if (Constants.Auton.IS_USING_TIME) {
+ addSequential(new DriveForTime(Constants.Auton.PASS_LOW_BAR_TIMEpassLowBarTime,
+ Constants.Auton.PASS_LOW_BAR_SPEED));
+ }
+ else {
+ addSequential(new DriveDistance(
+ Constants.Auton.PASS_LOW_BAR_DIST,
+ Constants.DriveTrain.PASS_DEFENSE_TIMEOUT));
+ }