add dead reckoning time, spd, distance to pass defense commands and constants

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

diff --git a/src/org/usfirst/frc/team3501/robot/commands/auton/PassRampart.java b/src/org/usfirst/frc/team3501/robot/commands/auton/PassRampart.java
index 426063dcaa2cad2fa4df19f4d05933640e74d1c1..95bc2a233332c036472c66540558d9c70d9fb37f 100755 (executable)
--- a/src/org/usfirst/frc/team3501/robot/commands/auton/PassRampart.java
+++ b/src/org/usfirst/frc/team3501/robot/commands/auton/PassRampart.java
@@ -1,5 +1,7 @@
 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;
@@ -24,16 +26,15 @@ public class PassRampart extends CommandGroup {
 
   public PassRampart() {
 
-    final double BEG_TIME = 0;
-    final double BEG_SPEED = 0;
-    final double MID_TIME = 0;
-    final double MID_SPEED = 0;
-    final double END_TIME = 0;
-    final double END_SPEED = 0;
-
-    addSequential(new DriveForTime(BEG_TIME, BEG_SPEED));
-    addSequential(new DriveForTime(MID_TIME, MID_SPEED));
-    addSequential(new DriveForTime(END_TIME, END_SPEED));
+    if (Constants.DeadReckoning.isDeadReckoning) {
+      addSequential(new DriveForTime(Constants.DeadReckoning.passRockWallTime,
+          Constants.DeadReckoning.passRockWallSpeed));
+    }
+    else {
+      addSequential(new DriveDistance(
+          Constants.DeadReckoning.passRampartDistance,
+          Constants.DriveTrain.PASS_DEFENSE_TIMEOUT));
+    }
 
   }