X-Git-Url: http://challenge-bot.com/repos/?a=blobdiff_plain;f=src%2Forg%2Fusfirst%2Ffrc%2Fteam3501%2Frobot%2Fcommands%2Fauton%2FPassRampart.java;h=780589171246a4c9b556ee3887349adc7022cb4d;hb=c688e9da1214ed9257214a0b265a1c1b7eeb1506;hp=426063dcaa2cad2fa4df19f4d05933640e74d1c1;hpb=dba0b9ad54f39b57668a6b62c64169fc9924e75a;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 426063dc..78058917 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 +1,7 @@
 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;
@@ -24,16 +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.Auton.IS_USING_TIME) {
+      addSequential(new DriveForTime(Constants.Auton.PASS_ROCK_WALL_TIME,
+          Constants.Auton.passRockWallSpeed));
+    }
+    else {
+      addSequential(new DriveDistance(
+          Constants.Auton.PASS_RAMPART_DIST,
+          Constants.DriveTrain.PASS_DEFENSE_TIMEOUT));
+    }
 
   }