X-Git-Url: http://challenge-bot.com/repos/?p=3501%2Fstronghold-2016;a=blobdiff_plain;f=src%2Forg%2Fusfirst%2Ffrc%2Fteam3501%2Frobot%2Fcommands%2Fauton%2FPassMoat.java;h=b0f2b8426a00ba1b42155a83430ec5fbcc743f74;hp=1e7ce58526cfcd15a1648feeba2a46eb2b64c1ad;hb=ca325a5866b4f601b171b02ac767393bd996d44a;hpb=fe726c3caa676cc8d1f94051227f91133bbd8071

diff --git a/src/org/usfirst/frc/team3501/robot/commands/auton/PassMoat.java b/src/org/usfirst/frc/team3501/robot/commands/auton/PassMoat.java
index 1e7ce585..b0f2b842 100755
--- a/src/org/usfirst/frc/team3501/robot/commands/auton/PassMoat.java
+++ b/src/org/usfirst/frc/team3501/robot/commands/auton/PassMoat.java
@@ -1,10 +1,21 @@
 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 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
  *
@@ -16,17 +27,15 @@ import edu.wpi.first.wpilibj.command.CommandGroup;
 
 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));
+    if (Constants.Auton.isUsingTime) {
+      addSequential(new DriveForTime(Constants.Auton.passMoatTime,
+          Constants.Auton.passMoatSpeed));
+    }
+    else {
+      addSequential(new DriveDistance(Constants.Auton.passMoatDistance,
+          Constants.DriveTrain.PASS_DEFENSE_TIMEOUT));
+    }
 
   }
 }