refactor isUsingTimeToPassDefense to isUsingTime

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

diff --git a/src/org/usfirst/frc/team3501/robot/commands/auton/PassLowBar.java b/src/org/usfirst/frc/team3501/robot/commands/auton/PassLowBar.java
old mode 100755 (executable)
new mode 100644 (file)
index 5a7ef5b..9ee3e6e
--- a/src/org/usfirst/frc/team3501/robot/commands/auton/PassLowBar.java
+++ b/src/org/usfirst/frc/team3501/robot/commands/auton/PassLowBar.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 low bar.
  *
+ * dependency on sensors: encoders
+ * dependency on subsystems: drivetrain
+ * dependency on other commands: DriveForDist
+ *
  * pre-condition: robot is flush against the ramp of the outerworks in front of
  * the low bar
  *
@@ -16,14 +24,15 @@ import edu.wpi.first.wpilibj.command.CommandGroup;
 
 public class PassLowBar extends CommandGroup {
 
-  private final double DISTANCE = 4.0;
-  private final double DEFAULT_SPEED = 0.5;
-
   public PassLowBar() {
-    addSequential(new DriveForDistance(DISTANCE, DEFAULT_SPEED));
-  }
-
-  public PassLowBar(double speed) {
-    addSequential(new DriveForDistance(DISTANCE, speed));
+    if (Constants.Auton.isUsingTime) {
+      addSequential(new DriveForTime(Constants.Auton.passLowBarTime,
+          Constants.Auton.passLowBarSpeed));
+    }
+    else {
+      addSequential(new DriveDistance(
+          Constants.Auton.passLowBarDistance,
+          Constants.DriveTrain.PASS_DEFENSE_TIMEOUT));
+    }
   }
 }