- addSequential(new DriveForTime(BEG_TIME, BEG_SPEED));
- addSequential(new DriveForTime(MID_TIME, MID_SPEED));
- addSequential(new DriveForTime(END_TIME, END_SPEED));
+ if (Constants.Auton.IS_USING_TIME) {
+ addSequential(new DriveForTime(Constants.Auton.PASS_MOAT_TIME,
+ Constants.Auton.PASS_MOAT_SPEED));
+ }
+ else {
+ addSequential(new DriveDistance(Constants.Auton.PASS_MOAT_DIST,
+ Constants.DriveTrain.PASS_DEFENSE_TIMEOUT));
+ }