Auton updates

diff --git a/src/org/usfirst/frc/team3501/robot/Constants.java b/src/org/usfirst/frc/team3501/robot/Constants.java
index d47d9034fb55363b39f897fc24e3d1a35b4438b6..ebef7502d1b0dcf1fe63ea25ee3f2cd2f11b01c6 100644 (file)
--- a/src/org/usfirst/frc/team3501/robot/Constants.java
+++ b/src/org/usfirst/frc/team3501/robot/Constants.java
@@ -112,20 +112,20 @@ public class Constants {
 
   public static class Auton {
     // Defense crossing speeds from -1 to 1
-    public static final double DEFAULT_SPEED = 0.6;
+    public static final double DEFAULT_SPEED = 0.3;
     public static final double MOAT_SPEED = 0.6;
     public static final double ROCK_WALL_SPEED = 0.8;
-    public static final double ROUGH_TERRAIN_SPEED = 0.6;
+    public static final double ROUGH_TERRAIN_SPEED = 0.7;
     public static final double RAMPART_SPEED = 0.4;
-    public static final double LOW_BAR_SPEED = 0.6;
+    public static final double LOW_BAR_SPEED = 0.5;
 
     // Defense crossing times in seconds
-    public static final double DEFAULT_TIME = 5.0;
-    public static final double MOAT_TIME = 5.0;
-    public static final double ROCK_WALL_TIME = 5.0;
-    public static final double ROUGH_TERRAIN_TIME = 5.0;
+    public static final double DEFAULT_TIME = 10.0;
+    public static final double MOAT_TIME = 7.0;
+    public static final double ROCK_WALL_TIME = 8.0;
+    public static final double ROUGH_TERRAIN_TIME = 6.0;
     public static final double RAMPART_TIME = 10.0;
-    public static final double LOW_BAR_TIME = 5.0;
+    public static final double LOW_BAR_TIME = 6.0;
 
     // Time to wait before shooting in seconds
     public static final double WAIT_TIME = 1.0;

diff --git a/src/org/usfirst/frc/team3501/robot/Robot.java b/src/org/usfirst/frc/team3501/robot/Robot.java
index bd22a7244942de053f25cdf5b112b1d745d9647d..2f97c9ad36f58f9cf91af5a6c21cda66fe624088 100644 (file)
--- a/src/org/usfirst/frc/team3501/robot/Robot.java
+++ b/src/org/usfirst/frc/team3501/robot/Robot.java
@@ -1,5 +1,6 @@
 package org.usfirst.frc.team3501.robot;
 
+import org.usfirst.frc.team3501.robot.Constants.Auton;
 import org.usfirst.frc.team3501.robot.Constants.Defense;
 import org.usfirst.frc.team3501.robot.commands.auton.ChooseStrategy;
 import org.usfirst.frc.team3501.robot.commands.driving.SetLowGear;
@@ -66,12 +67,16 @@ public class Robot extends IterativeRobot {
   private void addDefenseOptions(SendableChooser chooser) {
     chooser.addDefault("Portcullis", Defense.PORTCULLIS);
     chooser.addObject("Sally Port", Defense.SALLY_PORT);
-    chooser.addObject("Rough Terrain", Defense.ROUGH_TERRAIN);
-    chooser.addObject("Low Bar", Defense.LOW_BAR);
+    chooser.addObject("Rough Terrain" + Auton.ROUGH_TERRAIN_SPEED + " "
+        + Auton.ROUGH_TERRAIN_TIME, Defense.ROUGH_TERRAIN);
+    chooser.addObject("Low Bar" + Auton.LOW_BAR_SPEED + " "
+        + Auton.LOW_BAR_TIME, Defense.LOW_BAR);
     chooser.addObject("Chival De Frise", Defense.CHIVAL_DE_FRISE);
     chooser.addObject("Drawbridge", Defense.DRAWBRIDGE);
-    chooser.addObject("Moat", Defense.MOAT);
-    chooser.addObject("Rock Wall", Defense.ROCK_WALL);
+    chooser.addObject("Moat" + Auton.MOAT_SPEED + " " + Auton.MOAT_TIME,
+        Defense.MOAT);
+    chooser.addObject("Rock Wall" + Auton.ROCK_WALL_SPEED + " "
+        + Auton.ROCK_WALL_TIME, Defense.ROCK_WALL);
   }
 
   private void sendSendableChoosersToSmartDashboard() {