From 86e1c4ccf81d555213e6cac80d488a32e90a1cc8 Mon Sep 17 00:00:00 2001
From: Meryem Esa <meresa14@gmail.com>
Date: Sat, 30 Jan 2016 12:34:02 -0800
Subject: [PATCH] change OpenSallyPort to PassSallyPort and add pre and post
 condition comments to it

---
 .../robot/commands/DefaultAutonStrategy.java  |  4 +-
 .../robot/commands/OpenSallyPort.java         | 30 ------------
 .../robot/commands/PassSallyPort.java         | 46 +++++++++++++++++++
 3 files changed, 47 insertions(+), 33 deletions(-)
 delete mode 100755 src/org/usfirst/frc/team3501/robot/commands/OpenSallyPort.java
 create mode 100755 src/org/usfirst/frc/team3501/robot/commands/PassSallyPort.java

diff --git a/src/org/usfirst/frc/team3501/robot/commands/DefaultAutonStrategy.java b/src/org/usfirst/frc/team3501/robot/commands/DefaultAutonStrategy.java
index 04d12235..546d5e69 100755
--- a/src/org/usfirst/frc/team3501/robot/commands/DefaultAutonStrategy.java
+++ b/src/org/usfirst/frc/team3501/robot/commands/DefaultAutonStrategy.java
@@ -97,9 +97,7 @@ public class DefaultAutonStrategy extends CommandGroup {
 
     case SALLY_PORT:
 
-      addSequential(
-          new DriveForDistance(DIST_BETWEEN_OUTER_WORKS__AND_COURTYARD + 2,
-              DIST_BETWEEN_OUTER_WORKS__AND_COURTYARD + 2));
+      addSequential(new PassSallyPort());
 
     case ROUGH_TERRAIN:
 
diff --git a/src/org/usfirst/frc/team3501/robot/commands/OpenSallyPort.java b/src/org/usfirst/frc/team3501/robot/commands/OpenSallyPort.java
deleted file mode 100755
index b3a1b3e8..00000000
--- a/src/org/usfirst/frc/team3501/robot/commands/OpenSallyPort.java
+++ /dev/null
@@ -1,30 +0,0 @@
-package org.usfirst.frc.team3501.robot.commands;
-
-import edu.wpi.first.wpilibj.command.Command;
-
-public class OpenSallyPort extends Command {
-
-	public OpenSallyPort() {
-	}
-
-	@Override
-	protected void initialize() {
-	}
-
-	@Override
-	protected void execute() {
-	}
-
-	@Override
-	protected boolean isFinished() {
-		return false;
-	}
-
-	@Override
-	protected void end() {
-	}
-
-	@Override
-	protected void interrupted() {
-	}
-}
diff --git a/src/org/usfirst/frc/team3501/robot/commands/PassSallyPort.java b/src/org/usfirst/frc/team3501/robot/commands/PassSallyPort.java
new file mode 100755
index 00000000..b2734acf
--- /dev/null
+++ b/src/org/usfirst/frc/team3501/robot/commands/PassSallyPort.java
@@ -0,0 +1,46 @@
+package org.usfirst.frc.team3501.robot.commands;
+
+import edu.wpi.first.wpilibj.command.Command;
+
+public class PassSallyPort extends Command {
+  /***
+   * This command will only open the sally port pass through it. It will do this
+   * by hooking onto the port and driving backwards while rotating then driving
+   * backwards through the sally port.
+   *
+   * pre-condition: robot is in the neutral zone, flush against the ramp of the
+   * outerworks in front of the portcullis
+   *
+   * post-condition: the robot has passed the sally port and is in a courtyard
+   *
+   * note: to go from the courtyard to neutral zone, the driver just has to
+   * drive through the port
+   * 
+   * @author Meryem and Avi
+   *
+   */
+
+  public PassSallyPort() {
+  }
+
+  @Override
+  protected void initialize() {
+  }
+
+  @Override
+  protected void execute() {
+  }
+
+  @Override
+  protected boolean isFinished() {
+    return false;
+  }
+
+  @Override
+  protected void end() {
+  }
+
+  @Override
+  protected void interrupted() {
+  }
+}
-- 
2.30.2