// Passing Defenses Constants
public static final double DEFAULT_SPEED = 0.5;
- public static boolean isUsingTimeToPassDefense = true;
+ public static boolean isUsingTime = true;
// dead reckoning time and speed constants for driving through defenses
public static double passRockWallTime = 0;
public double horizontalDistToGoal;
public AlignToScore(int position) {
- if (Constants.Auton.isUsingTimeToPassDefense) {
+ if (Constants.Auton.isUsingTime) {
if (position == 1) {
addSequential(new DriveForTime(Constants.Auton.POS1_DIST1_TIME,
Constants.Auton.POS1_DRIVE_MAXSPEED));
public class PassLowBar extends CommandGroup {
public PassLowBar() {
- if (Constants.Auton.isUsingTimeToPassDefense) {
+ if (Constants.Auton.isUsingTime) {
addSequential(new DriveForTime(Constants.Auton.passLowBarTime,
Constants.Auton.passLowBarSpeed));
}
public class PassMoat extends CommandGroup {
public PassMoat() {
- if (Constants.Auton.isUsingTimeToPassDefense) {
+ if (Constants.Auton.isUsingTime) {
addSequential(new DriveForTime(Constants.Auton.passMoatTime,
Constants.Auton.passMoatSpeed));
}
public PassRampart() {
- if (Constants.Auton.isUsingTimeToPassDefense) {
+ if (Constants.Auton.isUsingTime) {
addSequential(new DriveForTime(Constants.Auton.passRockWallTime,
Constants.Auton.passRockWallSpeed));
}
public class PassRockWall extends CommandGroup {
public PassRockWall() {
- if (Constants.Auton.isUsingTimeToPassDefense) {
+ if (Constants.Auton.isUsingTime) {
addSequential(new DriveForTime(Constants.Auton.passRockWallTime,
Constants.Auton.passRockWallSpeed));
}
public PassRoughTerrain() {
- if (Constants.Auton.isUsingTimeToPassDefense) {
+ if (Constants.Auton.isUsingTime) {
addSequential(new DriveForTime(Constants.Auton.passRockWallTime,
Constants.Auton.passRockWallSpeed));
}
}
public void toggleTimeDeadReckoning() {
- Constants.Auton.isUsingTimeToPassDefense = !Constants.Auton.isUsingTimeToPassDefense;
+ Constants.Auton.isUsingTime = !Constants.Auton.isUsingTime;
}
}