X-Git-Url: http://challenge-bot.com/repos/?a=blobdiff_plain;f=src%2Forg%2Fusfirst%2Ffrc%2Fteam3501%2Frobot%2Fcommands%2Fauton%2FPassRoughTerrain.java;h=632974a16be16d282caf00521491eb11cf7923c8;hb=0f3df681ca44dc9f5c77f61326e1d7b0143ca2b9;hp=acc493d23e27f2df07fcd2f2fea662bb63f89897;hpb=42d6d87c1c837746f0322576cbadcb8b12179b5d;p=3501%2Fstronghold-2016

diff --git a/src/org/usfirst/frc/team3501/robot/commands/auton/PassRoughTerrain.java b/src/org/usfirst/frc/team3501/robot/commands/auton/PassRoughTerrain.java
old mode 100755
new mode 100644
index acc493d2..632974a1
--- a/src/org/usfirst/frc/team3501/robot/commands/auton/PassRoughTerrain.java
+++ b/src/org/usfirst/frc/team3501/robot/commands/auton/PassRoughTerrain.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 rough terrain.
  *
+ * dependency on subsytems: drivetrain
+ *
+ * dependency on other commands: DriveForTime
+ *
  * pre-condition: robot is flush against the ramp of the outerworks in front of
  * the rough terrain
  *
@@ -16,20 +24,17 @@ import edu.wpi.first.wpilibj.command.CommandGroup;
  */
 public class PassRoughTerrain extends CommandGroup {
 
-  // TODO: test for the time
-  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 PassRoughTerrain() {
 
-    addSequential(new DriveForTime(BEG_TIME, BEG_SPEED));
-    addSequential(new DriveForTime(MID_TIME, MID_SPEED));
-    addSequential(new DriveForTime(END_TIME, BEG_SPEED));
+    if (Constants.Auton.IS_USING_TIME) {
+      addSequential(new DriveForTime(Constants.Auton.PASS_ROUGH_TERRAIN_TIME,
+          Constants.Auton.PASS_ROUGH_TERRAIN_SPEED));
+    }
+    else {
+      addSequential(new DriveDistance(
+          Constants.Auton.PASS_ROUGH_TERRAIN_DIST,
+          Constants.DriveTrain.PASS_DEFENSE_TIMEOUT));
+    }
 
   }
 }