Switch left and right side of robot, remove capability to switch front temporarily

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

diff --git a/src/org/usfirst/frc/team3501/robot/commands/auton/PassLowBar.java b/src/org/usfirst/frc/team3501/robot/commands/auton/PassLowBar.java
old mode 100755 (executable)
new mode 100644 (file)
index c03ce14..83d934f
--- a/src/org/usfirst/frc/team3501/robot/commands/auton/PassLowBar.java
+++ b/src/org/usfirst/frc/team3501/robot/commands/auton/PassLowBar.java
@@ -1,34 +1,19 @@
 package org.usfirst.frc.team3501.robot.commands.auton;
 
+import org.usfirst.frc.team3501.robot.Constants.IntakeArm;
+import org.usfirst.frc.team3501.robot.commands.driving.TimeDrive;
+import org.usfirst.frc.team3501.robot.commands.intakearm.MoveIntakeArm;
+
 import edu.wpi.first.wpilibj.command.CommandGroup;
 
-/***
- * This command will drive the robot through the low bar.
- *
- * dependency on sensors: encoders
- * dependency on subsystems: drivetrain
- * dependency on other commands: DriveForDist
- * 
- * pre-condition: robot is flush against the ramp of the outerworks in front of
- * the low bar
- *
- * post-condition: the robot has passed the low bar and is in the next zone
- *
- * @author Meryem and Avi
+/**
  *
  */
-
 public class PassLowBar extends CommandGroup {
 
-  private final double DISTANCE = 4.0;
-  private final double DEFAULT_SPEED = 0.5;
-
   public PassLowBar() {
-    // TODO: need to add sequential for retracting the arms and shooting hood once those commands are made
-    addSequential(new DriveForDistance(DISTANCE, DEFAULT_SPEED));
-  }
-
-  public PassLowBar(double speed) {
-    addSequential(new DriveForDistance(DISTANCE, speed));
+    addSequential(new TimeDrive(.3, 1));
+    addSequential(new MoveIntakeArm(IntakeArm.EXTEND));
+    addSequential(new TimeDrive(.5, 3));
   }
 }