add precondition and Timeout to Expel and Intake commands

[3501/stronghold-2016] / src / org / usfirst / frc / team3501 / robot / commands / DefaultAutonStrategy.java

package org.usfirst.frc.team3501.robot.commands;

import org.usfirst.frc.team3501.robot.Constants.Defense;

import edu.wpi.first.wpilibj.command.CommandGroup;

/**
 * The default autonomous strategy involves passing the defense that is in front
 * of it, aiming the robot/ shooter towards the goal, and shooting.
 */

public class DefaultAutonStrategy extends CommandGroup {

  public DefaultAutonStrategy(int position, Defense defense) {

    switch (defense) {

    case PORTCULLIS:

      addSequential(new LiftPortcullis());

    case SALLY_PORT:

      addSequential(new PassSallyPort());

    case ROUGH_TERRAIN:

      addSequential(new PassRoughTerrain());

    case LOW_BAR:

      addSequential(new PassLowBar());

    case CHEVAL_DE_FRISE:

      addSequential(new PassChevalDeFrise());

    case DRAWBRIDGE:

      addSequential(new PassDrawBridge());

    case MOAT:

      addSequential(new PassMoat());

    case ROCK_WALL:

      addSequential(new PassRockWall());

    case RAMPART:

      addSequential(new PassRampart());

    default:
      break;
    }

    addSequential(new AimAndAlign());
    addSequential(new Shoot());

  }

}