make comments for all the defense cases

diff --git a/src/org/usfirst/frc/team3501/robot/commands/DefaultAutonStrategy.java b/src/org/usfirst/frc/team3501/robot/commands/DefaultAutonStrategy.java
index bd6ea4b9bc82a308bb362377a7c1ef95d14a9e37..7a75192e960d75a8a5b8e6f5039e65f6c68ebe5f 100755 (executable)
--- a/src/org/usfirst/frc/team3501/robot/commands/DefaultAutonStrategy.java
+++ b/src/org/usfirst/frc/team3501/robot/commands/DefaultAutonStrategy.java
@@ -18,27 +18,94 @@ public class DefaultAutonStrategy extends CommandGroup {
 
   public DefaultAutonStrategy(int position, Defense defense) {
 
-    // TODO: any variable that is not declared/instantiated are vars that need
+    // TODO: any variable that is not declared/instantiated are variables that
+    // need
     // to be tested for their value
 
-    // pass the defense
+    /*
+     * Portcullis: Robot is in front of the portcullis in whatever position 1-5.
+     * addSequential(new LiftPortcullis()); lifting the portcullis.
+     * addSequential(new DriveForDistance(distance, speed)); drive through the
+     * portcullis however neccesary. change direction to drive towards the
+     * designated shooting spot, go to that spot. shoot
+     */
+
+    /*
+     * Sally Port: Robot is in front of the sally port in whatever position 1-5.
+     * Do whatever is needed in order to cross sally port. addSequential(new
+     * DriveForDistance(distance, speed));//drive through the sally port. change
+     * direction to drive towards the designated shooting spot, go to that spot.
+     * shoot
+     */
+
+    /*
+     * Rough Terrain: Robot is in front of the sally port in whatever postion
+     * 1-5. Do whatever adaptive technique is required to pass rough terrain
+     * addSequential(new DriveForDistance(distance, speed)); go through the
+     * rough terrain change direction to drive towards the designated shooting
+     * spot, go to that spot. shoot
+     */
+
+    /*
+     * Low Bar: Robot is in front of low bar in whatever position 1-5.
+     * addSequential(new DriveForDistance(distance, speed));//drive through the
+     * low bar change direction to drive towards the designated shooting spot,
+     * go to that spot. shoot
+     */
+
+    /*
+     * Cheval de Frise: Robot is in front of cheval de frise in whatever
+     * position 1-5. do whatever to make all pieces facing down toward robot
+     * addSequential(new DriveForDistance(distance, speed));//drive to pass
+     * cheval de frise change direction to drive towards the designated shooting
+     * spot, go to that spot. shoot
+     */
+
+    /*
+     * Drawbridge: Robot is in front of drawbridge in whatever position 1-5.
+     * lift the drawbridge in whatever way it is to be lifted. addSequential(new
+     * DriveForDistance(distance, speed));//pass the drawbridge change direction
+     * to drive towards the designated shooting spot, go to that spot. shoot
+     */
+
+    /*
+     * Moat: Robot is in front of moat in whatever position 1-5. do whatever is
+     * adaptable to cross the moat. addSequential(new DriveForDistance(distance,
+     * speed));//cross the moat change direction to drive towards the designated
+     * shooting spot, go to that spot. shoot
+     */
+
+    /*
+     * Rockwall: Robot is in front of moat in whatever position 1-5. do whatever
+     * function is neccesary to cross the rock wall. addSequential(new
+     * DriveForDistance(distance, speed));//cross the rockwall change direction
+     * to drive towards the designated shooting spot, go to that spot. shoot
+     */
+
+    /*
+     * Rampart: Robot is in front of moat in whatever position 1-5. do whatever
+     * function is neccesary to cross the rockwall addSequential(new
+     * DriveForDistance(distance, speed));//cross the rockwall change direction
+     * to drive towards the designated shooting spot, go to that spot. shoot
+     */
+
     switch (defense) {
 
     case PORTCULLIS:
-      // we are assuming that LiftPortcullis() includes moving the defense arm
-      // and driving forward
 
       addSequential(new LiftPortcullis());
 
     case SALLY_PORT:
 
-      // addSequential();
+      addSequential(
+          new DriveForDistance(DIST_BETWEEN_OUTER_WORKS__AND_COURTYARD + 2,
+              DIST_BETWEEN_OUTER_WORKS__AND_COURTYARD + 2));
 
     case ROUGH_TERRAIN:
 
       addSequential(
           new DriveForDistance(DIST_BETWEEN_OUTER_WORKS__AND_COURTYARD + 2,
-              SPEED_FOR_PASSING_DEFENSE));
+              DIST_BETWEEN_OUTER_WORKS__AND_COURTYARD + 2));
 
     case LOW_BAR: