add constants same format as meryem did to constants and also add time dead reckoning

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

diff --git a/src/org/usfirst/frc/team3501/robot/commands/auton/DefaultAutonStrategy.java b/src/org/usfirst/frc/team3501/robot/commands/auton/DefaultAutonStrategy.java
index 318de7c115732194b00d631ff3ef971583a468af..0083cf5570ab3f1da196494d5fd6052b8ca7e5d7 100755 (executable)
--- a/src/org/usfirst/frc/team3501/robot/commands/auton/DefaultAutonStrategy.java
+++ b/src/org/usfirst/frc/team3501/robot/commands/auton/DefaultAutonStrategy.java
@@ -5,6 +5,7 @@ import org.usfirst.frc.team3501.robot.Constants.Defense;
 import org.usfirst.frc.team3501.robot.commands.shooter.Shoot;
 
 import edu.wpi.first.wpilibj.command.CommandGroup;
+import edu.wpi.first.wpilibj.command.WaitCommand;
 
 /**
  * The default autonomous strategy involves passing the defense that is in front
@@ -22,10 +23,10 @@ public class DefaultAutonStrategy extends CommandGroup {
       addSequential(new PassSallyPort());
 
     else if (defense == Constants.Defense.ROUGH_TERRAIN)
-      addSequential(new PassRoughTerrainTime());
+      addSequential(new PassRoughTerrain());
 
     else if (defense == Constants.Defense.LOW_BAR)
-      addSequential(new PassLowBarTime());
+      addSequential(new PassLowBar());
 
     else if (defense == Constants.Defense.CHEVAL_DE_FRISE)
       addSequential(new PassChevalDeFrise());
@@ -34,15 +35,16 @@ public class DefaultAutonStrategy extends CommandGroup {
       addSequential(new PassDrawBridge());
 
     else if (defense == Constants.Defense.MOAT)
-      addSequential(new PassMoatDistance());
+      addSequential(new PassMoat());
 
     else if (defense == Constants.Defense.ROCK_WALL)
-      addSequential(new PassRockWallDistance());
+      addSequential(new PassRockWall());
 
     else if (defense == Constants.Defense.RAMPART)
-      addSequential(new PassRampartDistance());
+      addSequential(new PassRampart());
 
-    addSequential(new AimAndAlign());
+    addSequential(new AlignToScore(position));
+    addSequential(new WaitCommand(5.0));
     addSequential(new Shoot());
 
   }