X-Git-Url: http://challenge-bot.com/repos/?a=blobdiff_plain;f=src%2Forg%2Fusfirst%2Ffrc%2Fteam3501%2Frobot%2Fcommands%2Fauton%2FPassMoat.java;h=f5b01c468bb774533752c57afa1c19852bc78a2e;hb=9d518a5ce692327a7bbcf60d352dd01d253affca;hp=1f465d95af4e1f2d8f093c93cd04d02a869b0c83;hpb=dba0b9ad54f39b57668a6b62c64169fc9924e75a;p=3501%2Fstronghold-2016

diff --git a/src/org/usfirst/frc/team3501/robot/commands/auton/PassMoat.java b/src/org/usfirst/frc/team3501/robot/commands/auton/PassMoat.java
index 1f465d95..f5b01c46 100755
--- a/src/org/usfirst/frc/team3501/robot/commands/auton/PassMoat.java
+++ b/src/org/usfirst/frc/team3501/robot/commands/auton/PassMoat.java
@@ -1,5 +1,7 @@
 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;
@@ -25,17 +27,15 @@ import edu.wpi.first.wpilibj.command.CommandGroup;
 
 public class PassMoat extends CommandGroup {
 
-  private final double BEG_TIME = 0;
-  private final double MID_TIME = 0;
-  private final double END_TIME = 0;
-  private final double BEG_SPEED = 0;
-  private final double MID_SPEED = 0;
-  private final double END_SPEED = 0;
-
   public PassMoat() {
-    addSequential(new DriveForTime(BEG_TIME, BEG_SPEED));
-    addSequential(new DriveForTime(MID_TIME, MID_SPEED));
-    addSequential(new DriveForTime(END_TIME, END_SPEED));
+    if (Constants.DeadReckoning.isDeadReckoning) {
+      addSequential(new DriveForTime(Constants.DeadReckoning.passMoatTime,
+          Constants.DeadReckoning.passMoatSpeed));
+    }
+    else {
+      addSequential(new DriveDistance(Constants.DeadReckoning.passMoatDistance,
+          Constants.DriveTrain.PASS_DEFENSE_TIMEOUT));
+    }
 
   }
 }