- addSequential(new DriveForTime(BEG_TIME, BEG_SPEED));
- addSequential(new DriveForTime(MID_TIME, MID_SPEED));
- addSequential(new DriveForTime(END_TIME, END_SPEED));
+ if (Constants.DeadReckoning.isUsingTimeToPassDefense) {
+ addSequential(new DriveForTime(Constants.DeadReckoning.passMoatTime,
+ Constants.DeadReckoning.passMoatSpeed));
+ }
+ else {
+ addSequential(new DriveDistance(Constants.DeadReckoning.passMoatDistance,
+ Constants.DriveTrain.PASS_DEFENSE_TIMEOUT));
+ }