make constants for distance between neutral zone and courtyard and for speed

diff --git a/src/org/usfirst/frc/team3501/robot/commands/DefaultAutonStrategy.java b/src/org/usfirst/frc/team3501/robot/commands/DefaultAutonStrategy.java
index df21714a86ee482316b8dd49b508388456fa081e..bd6ea4b9bc82a308bb362377a7c1ef95d14a9e37 100755 (executable)
--- a/src/org/usfirst/frc/team3501/robot/commands/DefaultAutonStrategy.java
+++ b/src/org/usfirst/frc/team3501/robot/commands/DefaultAutonStrategy.java
@@ -10,29 +10,41 @@ import edu.wpi.first.wpilibj.command.CommandGroup;
  */
 public class DefaultAutonStrategy extends CommandGroup {
 
+  // in feet
+  // distance along a platform
+  final double DIST_BETWEEN_OUTER_WORKS__AND_COURTYARD = 4.0;
+  // number from -1 to 1
+  final double SPEED_FOR_PASSING_DEFENSE = 0.5;
+
   public DefaultAutonStrategy(int position, Defense defense) {
-    /*
-     * pass defense drive forward do what has to be done to pass the defense
-     * drive forward aim face tower aim shooter toward goal shoot
-     */
 
     // TODO: any variable that is not declared/instantiated are vars that need
     // to be tested for their value
 
+    // pass the defense
     switch (defense) {
+
     case PORTCULLIS:
-      // we are assuming that the robot is also driving forward as the
-      // portcullis is being lifted
+      // we are assuming that LiftPortcullis() includes moving the defense arm
+      // and driving forward
+
       addSequential(new LiftPortcullis());
+
     case SALLY_PORT:
+
       // addSequential();
+
     case ROUGH_TERRAIN:
 
-      addSequential(new DriveForDistance(distance, speed));
+      addSequential(
+          new DriveForDistance(DIST_BETWEEN_OUTER_WORKS__AND_COURTYARD + 2,
+              SPEED_FOR_PASSING_DEFENSE));
 
     case LOW_BAR:
 
-      addSequential(new DriveForDistance(distance, speed));
+      addSequential(
+          new DriveForDistance(DIST_BETWEEN_OUTER_WORKS__AND_COURTYARD + 2,
+              SPEED_FOR_PASSING_DEFENSE));
 
     case CHEVAL_DE_FRISE:
 
@@ -44,20 +56,29 @@ public class DefaultAutonStrategy extends CommandGroup {
 
     case MOAT:
 
-      addSequential(new DriveForDistance(distance, speed));
+      addSequential(new DriveForDistance(
+          DIST_BETWEEN_OUTER_WORKS__AND_COURTYARD, SPEED_FOR_PASSING_DEFENSE));
 
     case ROCK_WALL:
 
-      addSequential(new DriveForDistance(distance, speed));
+      addSequential(new DriveForDistance(
+          DIST_BETWEEN_OUTER_WORKS__AND_COURTYARD, SPEED_FOR_PASSING_DEFENSE));
 
     case RAMPART:
 
-      addSequential(new DriveForDistance(distance, speed));
+      addSequential(new DriveForDistance(
+          DIST_BETWEEN_OUTER_WORKS__AND_COURTYARD, SPEED_FOR_PASSING_DEFENSE));
 
     default:
       break;
     }
 
+    // aim towards goal
+
+    // shoot
+
+    //
+
   }
 
 }