X-Git-Url: http://challenge-bot.com/repos/?a=blobdiff_plain;f=src%2Forg%2Fusfirst%2Ffrc%2Fteam3501%2Frobot%2Fcommands%2Fauton%2FPassLowBar.java;h=be002264643edb554842d88bba54b94137f24b3b;hb=0f3df681ca44dc9f5c77f61326e1d7b0143ca2b9;hp=9d9184d8d337de60362daa38b7059c8829ecb447;hpb=b332ad0d4dc703f34de13335b98864ed690eaa0e;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 9d9184d8..be002264
--- a/src/org/usfirst/frc/team3501/robot/commands/auton/PassLowBar.java
+++ b/src/org/usfirst/frc/team3501/robot/commands/auton/PassLowBar.java
@@ -1,10 +1,18 @@
 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;
 
 /***
  * 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
  *
@@ -16,16 +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.Auton.IS_USING_TIME) {
+      addSequential(new DriveForTime(Constants.Auton.PASS_LOW_BAR_TIME,
+          Constants.Auton.PASS_LOW_BAR_SPEED));
+    }
+    else {
+      addSequential(new DriveDistance(
+          Constants.Auton.PASS_LOW_BAR_DIST,
+          Constants.DriveTrain.PASS_DEFENSE_TIMEOUT));
+    }
   }
 }