+package org.usfirst.frc.team3501.robot.commands.auton;
+
+import org.usfirst.frc.team3501.robot.Constants.Auton;
+import org.usfirst.frc.team3501.robot.Constants.Defense;
+import org.usfirst.frc.team3501.robot.commands.shooter.Shoot;
+
+import edu.wpi.first.wpilibj.command.CommandGroup;
+import edu.wpi.first.wpilibj.command.WaitCommand;
+
+public class ChooseStrategy extends CommandGroup {
+
+ public ChooseStrategy(int position, Defense defense) {
+
+ if (defense == Defense.PORTCULLIS)
+ addSequential(new PassPortcullis());
+
+ else if (defense == Defense.CHIVAL_DE_FRISE)
+ addSequential(new PassChivalDeFrise());
+
+ else if (defense == Defense.MOAT)
+ addSequential(new PassMoat());
+
+ else if (defense == Defense.ROCK_WALL)
+ addSequential(new PassRockWall());
+
+ else if (defense == Defense.DRAWBRIDGE)
+ addSequential(new PassDrawbridge());
+
+ else if (defense == Defense.SALLY_PORT)
+ addSequential(new PassSallyPort());
+
+ else if (defense == Defense.RAMPART)
+ addSequential(new PassRampart());
+
+ else if (defense == Defense.ROUGH_TERRAIN)
+ addSequential(new PassRoughTerrain());
+
+ else if (defense == Defense.LOW_BAR)
+ addSequential(new PassLowBar());
+
+ addSequential(new AlignToScore(position));
+ // TODO: test for how long robot should wait
+ addSequential(new WaitCommand(Auton.WAIT_TIME));
+ addSequential(new Shoot());
+
+ }
+}