add precondition and Timeout to Expel and Intake commands

[3501/stronghold-2016] / src / org / usfirst / frc / team3501 / robot / commands / DefaultAutonStrategy.java

diff --git a/src/org/usfirst/frc/team3501/robot/commands/DefaultAutonStrategy.java b/src/org/usfirst/frc/team3501/robot/commands/DefaultAutonStrategy.java
index 5eaab4571871a620b165d3d894723a2079a4fe3c..99fe317d3945d2ab85ebf689d2f561d458a8c940 100755 (executable)
--- a/src/org/usfirst/frc/team3501/robot/commands/DefaultAutonStrategy.java
+++ b/src/org/usfirst/frc/team3501/robot/commands/DefaultAutonStrategy.java
@@ -1,28 +1,63 @@
 package org.usfirst.frc.team3501.robot.commands;
 
+import org.usfirst.frc.team3501.robot.Constants.Defense;
+
 import edu.wpi.first.wpilibj.command.CommandGroup;
 
 /**
  * The default autonomous strategy involves passing the defense that is in front
  * of it, aiming the robot/ shooter towards the goal, and shooting.
  */
+
 public class DefaultAutonStrategy extends CommandGroup {
 
-  public DefaultAutonStrategy(int position, int defense) {
-    /*
-     * pass defense drive forward do what has to be done to pass the defense
-     * drive forward aim face tower aim shooter toward goal shoot
-     */
+  public DefaultAutonStrategy(int position, Defense defense) {
 
-    // based on defense pass the defense
     switch (defense) {
-    case 1:
-    case 2:
-    case 3:
-    case 4:
-    case 5:
+
+    case PORTCULLIS:
+
+      addSequential(new LiftPortcullis());
+
+    case SALLY_PORT:
+
+      addSequential(new PassSallyPort());
+
+    case ROUGH_TERRAIN:
+
+      addSequential(new PassRoughTerrain());
+
+    case LOW_BAR:
+
+      addSequential(new PassLowBar());
+
+    case CHEVAL_DE_FRISE:
+
+      addSequential(new PassChevalDeFrise());
+
+    case DRAWBRIDGE:
+
+      addSequential(new PassDrawBridge());
+
+    case MOAT:
+
+      addSequential(new PassMoat());
+
+    case ROCK_WALL:
+
+      addSequential(new PassRockWall());
+
+    case RAMPART:
+
+      addSequential(new PassRampart());
+
+    default:
+      break;
     }
 
+    addSequential(new AimAndAlign());
+    addSequential(new Shoot());
+
   }
 
 }