X-Git-Url: http://challenge-bot.com/repos/?p=3501%2Fstronghold-2016;a=blobdiff_plain;f=src%2Forg%2Fusfirst%2Ffrc%2Fteam3501%2Frobot%2Fcommands%2Fauton%2FPassRockWall.java;h=dae5e038ad86b3b6baa8a9c23b63cc352cc2ebd6;hp=2839df3c3156d21751c58446820707e9fb8ada85;hb=ca325a5866b4f601b171b02ac767393bd996d44a;hpb=dba0b9ad54f39b57668a6b62c64169fc9924e75a

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 2839df3c..dae5e038 100755
--- 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;
@@ -22,11 +24,16 @@ import edu.wpi.first.wpilibj.command.CommandGroup;
 
 public class PassRockWall extends CommandGroup {
 
-  private final double time = 0, speed =0;
-
   public PassRockWall() {
-
-    addSequential(new DriveForTime(time, speed));
+    if (Constants.Auton.isUsingTime) {
+      addSequential(new DriveForTime(Constants.Auton.passRockWallTime,
+          Constants.Auton.passRockWallSpeed));
+    }
+    else {
+      addSequential(new DriveDistance(
+          Constants.Auton.passRockWallDistance,
+          Constants.DriveTrain.PASS_DEFENSE_TIMEOUT));
+    }
 
   }
 }