- // 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.DeadReckoning.isUsingTimeToPassDefense) {
+ addSequential(new DriveForTime(Constants.DeadReckoning.passLowBarTime,
+ Constants.DeadReckoning.passLowBarSpeed));
+ }
+ else {
+ addSequential(new DriveDistance(
+ Constants.DeadReckoning.passLowBarDistance,
+ Constants.DriveTrain.PASS_DEFENSE_TIMEOUT));
+ }