big refactor of command/commandbase/commandgroup. also add auton read from file.

[3501/3501-spark-go] / src / org / usfirst / frc / team3501 / robot / autons / PickUpContainer.java

diff --git a/src/org/usfirst/frc/team3501/robot/autons/PickUpContainer.java b/src/org/usfirst/frc/team3501/robot/autons/PickUpContainer.java
index 9b08d1fa57930dcfde17503097101d301dcd174f..52fb2b4479dfb464c9155de948b3e4525058b3aa 100644 (file)
--- a/src/org/usfirst/frc/team3501/robot/autons/PickUpContainer.java
+++ b/src/org/usfirst/frc/team3501/robot/autons/PickUpContainer.java
@@ -1,20 +1,23 @@
 package org.usfirst.frc.team3501.robot.autons;
 
-import org.usfirst.frc.team3501.robot.RobotMap;
+import org.usfirst.frc.team3501.robot.Robot;
 import org.usfirst.frc.team3501.robot.commands.*;
 
-import edu.wpi.first.wpilibj.command.CommandGroup;
-
 public class PickUpContainer extends CommandGroup {
 
     public PickUpContainer() {
         super("PickUpContainer");
 
+        requires(Robot.arm);
+        requires(Robot.claw);
+
         queueCommands();
     }
 
     private void queueCommands() {
         addSequential(new CloseClaw());
-        addSequential(new MoveArmFor(RobotMap.PICKUP_TIME, RobotMap.PICKUP_SPEED));
+        addSequential(new MoveArmFor(
+                Robot.autonData.getTime("pickup_container"),
+                Robot.autonData.getSpeed("pickup_container")));
     }
 }