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=7178aa1fceaa215c71f530b83eff8a534f1ae20a;hb=ca325a5866b4f601b171b02ac767393bd996d44a;hpb=6bb7f8ac8eca89a8e0b308720f7e15178eef43ea

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 7178aa1f..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 edu.wpi.first.wpilibj.command.Command;
+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
  *
@@ -13,30 +24,18 @@ import edu.wpi.first.wpilibj.command.Command;
  * @author Meryem and Avi
  *
  */
-public class PassMoat extends Command {
 
-  public PassMoat() {
-
-  }
+public class PassMoat extends CommandGroup {
 
-  @Override
-  protected void initialize() {
-  }
-
-  @Override
-  protected void execute() {
-  }
-
-  @Override
-  protected boolean isFinished() {
-    return false;
-  }
-
-  @Override
-  protected void end() {
-  }
+  public PassMoat() {
+    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));
+    }
 
-  @Override
-  protected void interrupted() {
   }
 }