X-Git-Url: http://challenge-bot.com/repos/?a=blobdiff_plain;f=src%2Forg%2Fusfirst%2Ffrc%2Fteam3501%2Frobot%2Fcommands%2Fauton%2FPassLowBar.java;h=49b085d09e6a8ecf11ecd47cd325da75dd5267b3;hb=f11e620060e9ff7062b4409bbc4f14bb5bcf2e9d;hp=c03ce143465c5b9a58ba08ece9f6cb3cfc556719;hpb=dcc47c448a6f2643206a84ff89eedea360ae0d66;p=3501%2Fstronghold-2016

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
new mode 100644
index c03ce143..49b085d0
--- a/src/org/usfirst/frc/team3501/robot/commands/auton/PassLowBar.java
+++ b/src/org/usfirst/frc/team3501/robot/commands/auton/PassLowBar.java
@@ -1,5 +1,9 @@
 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 edu.wpi.first.wpilibj.command.CommandGroup;
 
 /***
@@ -8,7 +12,7 @@ import edu.wpi.first.wpilibj.command.CommandGroup;
  * 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
  *
@@ -20,15 +24,15 @@ import edu.wpi.first.wpilibj.command.CommandGroup;
 
 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));
+    if (Constants.DeadReckoning.isUsingTimeToPassDefense) {
+      addSequential(new DriveForTime(Constants.DeadReckoning.passLowBarTime,
+          Constants.DeadReckoning.passLowBarSpeed));
+    }
+    else {
+      addSequential(new DriveDistance(
+          Constants.DeadReckoning.passLowBarDistance,
+          Constants.DriveTrain.PASS_DEFENSE_TIMEOUT));
+    }
   }
 }