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 4146977d98f48ae3cc3953b1316595c608447947..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
@@ -1,9 +1,11 @@
 package org.usfirst.frc.team3501.robot.commands.auton;
 
+import org.usfirst.frc.team3501.robot.Constants;
 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
@@ -14,49 +16,35 @@ public class DefaultAutonStrategy extends CommandGroup {
 
   public DefaultAutonStrategy(int position, Defense defense) {
 
-    switch (defense) {
-
-    case PORTCULLIS:
-
+    if (defense == Constants.Defense.PORTCULLIS)
       addSequential(new LiftPortcullis());
 
-    case SALLY_PORT:
-
+    else if (defense == Constants.Defense.SALLY_PORT)
       addSequential(new PassSallyPort());
 
-    case ROUGH_TERRAIN:
-
+    else if (defense == Constants.Defense.ROUGH_TERRAIN)
       addSequential(new PassRoughTerrain());
 
-    case LOW_BAR:
-
+    else if (defense == Constants.Defense.LOW_BAR)
       addSequential(new PassLowBar());
 
-    case CHEVAL_DE_FRISE:
-
+    else if (defense == Constants.Defense.CHEVAL_DE_FRISE)
       addSequential(new PassChevalDeFrise());
 
-    case DRAWBRIDGE:
-
+    else if (defense == Constants.Defense.DRAWBRIDGE)
       addSequential(new PassDrawBridge());
 
-    case MOAT:
-
+    else if (defense == Constants.Defense.MOAT)
       addSequential(new PassMoat());
 
-    case ROCK_WALL:
-
+    else if (defense == Constants.Defense.ROCK_WALL)
       addSequential(new PassRockWall());
 
-    case RAMPART:
-
+    else if (defense == Constants.Defense.RAMPART)
       addSequential(new PassRampart());
 
-    default:
-      break;
-    }
-
-    addSequential(new AimAndAlign());
+    addSequential(new AlignToScore(position));
+    addSequential(new WaitCommand(5.0));
     addSequential(new Shoot());
 
   }