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
index fe35684f9e1d38870759c9d6d68cd4fcc476f47a..83d934f3be7ce696a54b4c48f7f6b89f973cc468 100644 (file)
--- a/src/org/usfirst/frc/team3501/robot/commands/auton/PassLowBar.java
+++ b/src/org/usfirst/frc/team3501/robot/commands/auton/PassLowBar.java
@@ -1,38 +1,19 @@
 package org.usfirst.frc.team3501.robot.commands.auton;
 
-import org.usfirst.frc.team3501.robot.Constants;
-import org.usfirst.frc.team3501.robot.commands.driving.DriveDistance;
-import org.usfirst.frc.team3501.robot.commands.driving.DriveForTime;
+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 {
 
   public PassLowBar() {
-    if (Constants.Auton.isUsingTime) {
-      addSequential(new DriveForTime(Constants.Auton.PASS_LOW_BAR_TIMEpassLowBarTime,
-          Constants.Auton.PASS_LOW_BAR_SPEED));
-    }
-    else {
-      addSequential(new DriveDistance(
-          Constants.Auton.PASS_LOW_BAR_DIST,
-          Constants.DriveTrain.PASS_DEFENSE_TIMEOUT));
-    }
+    addSequential(new TimeDrive(.3, 1));
+    addSequential(new MoveIntakeArm(IntakeArm.EXTEND));
+    addSequential(new TimeDrive(.5, 3));
   }
 }