X-Git-Url: http://challenge-bot.com/repos/?a=blobdiff_plain;f=src%2Forg%2Fusfirst%2Ffrc%2Fteam3501%2Frobot%2Fcommands%2Fauton%2FPassRampart.java;h=21c128958e51b2ac09da94b5b3f21c98d4268378;hb=f11e620060e9ff7062b4409bbc4f14bb5bcf2e9d;hp=e0dfb49032205d26d5403fc903e09522fa7a043d;hpb=aa616af6a9dc8eebb4e347998f64125f75ce05d2;p=3501%2Fstronghold-2016

diff --git a/src/org/usfirst/frc/team3501/robot/commands/auton/PassRampart.java b/src/org/usfirst/frc/team3501/robot/commands/auton/PassRampart.java
index e0dfb490..21c12895 100755
--- a/src/org/usfirst/frc/team3501/robot/commands/auton/PassRampart.java
+++ b/src/org/usfirst/frc/team3501/robot/commands/auton/PassRampart.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;
 
 /***
@@ -22,16 +26,15 @@ public class PassRampart extends CommandGroup {
 
   public PassRampart() {
 
-    final double BEG_TIME = 0;
-    final double BEG_SPEED = 0;
-    final double MID_TIME = 0;
-    final double MID_SPEED = 0;
-    final double END_TIME = 0;
-    final double END_SPEED = 0;
-
-    addSequential(new DriveForTime(BEG_TIME, BEG_SPEED));
-    addSequential(new DriveForTime(MID_TIME, MID_SPEED));
-    addSequential(new DriveForTime(END_TIME, END_SPEED));
+    if (Constants.DeadReckoning.isUsingTimeToPassDefense) {
+      addSequential(new DriveForTime(Constants.DeadReckoning.passRockWallTime,
+          Constants.DeadReckoning.passRockWallSpeed));
+    }
+    else {
+      addSequential(new DriveDistance(
+          Constants.DeadReckoning.passRampartDistance,
+          Constants.DriveTrain.PASS_DEFENSE_TIMEOUT));
+    }
 
   }