make 'pass' commands for all the defenses that just have to be driven over

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

diff --git a/src/org/usfirst/frc/team3501/robot/commands/DefaultAutonStrategy.java b/src/org/usfirst/frc/team3501/robot/commands/DefaultAutonStrategy.java
index ce2b7fb72c41a7da3558ebcea815e8d313c24df9..eccd96682b860470712f53154f6b85aa9e909acf 100755 (executable)
--- a/src/org/usfirst/frc/team3501/robot/commands/DefaultAutonStrategy.java
+++ b/src/org/usfirst/frc/team3501/robot/commands/DefaultAutonStrategy.java
@@ -8,13 +8,8 @@ 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 {
-  // in feet
-  // distance along a platform
-  final double DIST_BETWEEN_OUTER_WORKS__AND_COURTYARD = 4.0;
 
-  // number from -1 to 1
-  final double SPEED_FOR_PASSING_DEFENSE = 0.5;
+public class DefaultAutonStrategy extends CommandGroup {
 
   public DefaultAutonStrategy(int position, Defense defense) {
 
@@ -30,15 +25,11 @@ public class DefaultAutonStrategy extends CommandGroup {
 
     case ROUGH_TERRAIN:
 
-      addSequential(
-          new DriveForDistance(DIST_BETWEEN_OUTER_WORKS__AND_COURTYARD + 2,
-              DIST_BETWEEN_OUTER_WORKS__AND_COURTYARD + 2));
+      addSequential(new PassRoughTerrain());
 
     case LOW_BAR:
 
-      addSequential(
-          new DriveForDistance(DIST_BETWEEN_OUTER_WORKS__AND_COURTYARD + 2,
-              SPEED_FOR_PASSING_DEFENSE));
+      addSequential(new PassLowBar());
 
     case CHEVAL_DE_FRISE:
 
@@ -50,18 +41,15 @@ public class DefaultAutonStrategy extends CommandGroup {
 
     case MOAT:
 
-      addSequential(new DriveForDistance(
-          DIST_BETWEEN_OUTER_WORKS__AND_COURTYARD, SPEED_FOR_PASSING_DEFENSE));
+      addSequential(new PassMoat());
 
     case ROCK_WALL:
 
-      addSequential(new DriveForDistance(
-          DIST_BETWEEN_OUTER_WORKS__AND_COURTYARD, SPEED_FOR_PASSING_DEFENSE));
+      addSequential(new PassRockWall());
 
     case RAMPART:
 
-      addSequential(new DriveForDistance(
-          DIST_BETWEEN_OUTER_WORKS__AND_COURTYARD, SPEED_FOR_PASSING_DEFENSE));
+      addSequential(new PassRampart());
 
     default:
       break;