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

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

diff --git a/src/org/usfirst/frc/team3501/robot/commands/auton/PassRockWall.java b/src/org/usfirst/frc/team3501/robot/commands/auton/PassRockWall.java
index b27c6de12428917260cb4dcddf32ceb8111125f0..4b4a088a04b4e9b2f0c788208928fcc8355f07e2 100755 (executable)
--- a/src/org/usfirst/frc/team3501/robot/commands/auton/PassRockWall.java
+++ b/src/org/usfirst/frc/team3501/robot/commands/auton/PassRockWall.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;
@@ -22,18 +24,16 @@ import edu.wpi.first.wpilibj.command.CommandGroup;
 
 public class PassRockWall 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 PassRockWall() {
-
-    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.passRockWallDistance,
+          Constants.DriveTrain.PASS_DEFENSE_TIMEOUT));
+    }
 
   }
 }