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

diff --git a/src/org/usfirst/frc/team3501/robot/commands/auton/PassMoat.java b/src/org/usfirst/frc/team3501/robot/commands/auton/PassMoat.java
new file mode 100755 (executable)
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+++ b/src/org/usfirst/frc/team3501/robot/commands/auton/PassMoat.java
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+package org.usfirst.frc.team3501.robot.commands.auton;
+
+import org.usfirst.frc.team3501.robot.commands.driving.DriveForTime;
+
+import edu.wpi.first.wpilibj.command.CommandGroup;
+
+/***
+ * This command will drive the robot through the moat.
+ *
+ * The code drives the robot for a specific time at a specific speed up the ramp
+ * to the defense then drive over the defense at a different speed and time.
+ *
+ * dependency on subsystem: drivetrain
+ *
+ * dependency on other commands: DriveForTime
+ *
+ * pre-condition: robot is flush against the ramp of the outerworks in front of
+ * the moat
+ *
+ * post-condition: the robot has passed the moat and is in the next zone
+ *
+ * @author Meryem and Avi
+ *
+ */
+
+public class PassMoat extends CommandGroup {
+
+  private final double BEG_TIME = 0;
+  private final double MID_TIME = 0;
+  private final double END_TIME = 0;
+  private final double BEG_SPEED = 0;
+  private final double MID_SPEED = 0;
+  private final double END_SPEED = 0;
+
+  public PassMoat() {
+    addSequential(new DriveForTime(BEG_TIME, BEG_SPEED));
+    addSequential(new DriveForTime(MID_TIME, MID_SPEED));
+    addSequential(new DriveForTime(END_TIME, END_SPEED));
+
+  }
+}