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=1f465d95af4e1f2d8f093c93cd04d02a869b0c83;hb=ca325a5866b4f601b171b02ac767393bd996d44a;hpb=1fb6ed96403e3cd89640a375a690d34ea331d6c2

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 1f465d95..b0f2b842 100755
--- a/src/org/usfirst/frc/team3501/robot/commands/auton/PassMoat.java
+++ b/src/org/usfirst/frc/team3501/robot/commands/auton/PassMoat.java
@@ -1,5 +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;
@@ -25,17 +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));
+    }
 
   }
 }