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 df21714a86ee482316b8dd49b508388456fa081e..99fe317d3945d2ab85ebf689d2f561d458a8c940 100755 (executable)
--- a/src/org/usfirst/frc/team3501/robot/commands/DefaultAutonStrategy.java
+++ b/src/org/usfirst/frc/team3501/robot/commands/DefaultAutonStrategy.java
@@ -8,56 +8,56 @@ 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, Defense 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
-     */
-
-    // TODO: any variable that is not declared/instantiated are vars that need
-    // to be tested for their value
 
     switch (defense) {
+
     case PORTCULLIS:
-      // we are assuming that the robot is also driving forward as the
-      // portcullis is being lifted
+
       addSequential(new LiftPortcullis());
+
     case SALLY_PORT:
-      // addSequential();
+
+      addSequential(new PassSallyPort());
+
     case ROUGH_TERRAIN:
 
-      addSequential(new DriveForDistance(distance, speed));
+      addSequential(new PassRoughTerrain());
 
     case LOW_BAR:
 
-      addSequential(new DriveForDistance(distance, speed));
+      addSequential(new PassLowBar());
 
     case CHEVAL_DE_FRISE:
 
-      addSequential(new LowerChevalDeFrise());
+      addSequential(new PassChevalDeFrise());
 
     case DRAWBRIDGE:
 
-      addSequential(new LowerDrawBridge());
+      addSequential(new PassDrawBridge());
 
     case MOAT:
 
-      addSequential(new DriveForDistance(distance, speed));
+      addSequential(new PassMoat());
 
     case ROCK_WALL:
 
-      addSequential(new DriveForDistance(distance, speed));
+      addSequential(new PassRockWall());
 
     case RAMPART:
 
-      addSequential(new DriveForDistance(distance, speed));
+      addSequential(new PassRampart());
 
     default:
       break;
     }
 
+    addSequential(new AimAndAlign());
+    addSequential(new Shoot());
+
   }
 
 }