From f81d4ab0fe74a5bdc9179a39a3bbfed45a1ffd3a Mon Sep 17 00:00:00 2001
From: Harel Dor <hareldor@gmail.com>
Date: Fri, 25 Mar 2016 15:26:43 -0700
Subject: [PATCH] Modify auton to ramp up in speed

---
 src/org/usfirst/frc/team3501/robot/Robot.java  |  4 ++--
 .../team3501/robot/commands/auton/Auton.java   | 18 ++++++++++++++++++
 .../robot/commands/driving/TimeDrive.java      |  1 -
 3 files changed, 20 insertions(+), 3 deletions(-)
 create mode 100644 src/org/usfirst/frc/team3501/robot/commands/auton/Auton.java

diff --git a/src/org/usfirst/frc/team3501/robot/Robot.java b/src/org/usfirst/frc/team3501/robot/Robot.java
index e3b51888..ec8af1fc 100644
--- a/src/org/usfirst/frc/team3501/robot/Robot.java
+++ b/src/org/usfirst/frc/team3501/robot/Robot.java
@@ -1,7 +1,7 @@
 package org.usfirst.frc.team3501.robot;
 
+import org.usfirst.frc.team3501.robot.commands.auton.Auton;
 import org.usfirst.frc.team3501.robot.commands.driving.SetLowGear;
-import org.usfirst.frc.team3501.robot.commands.driving.TimeDrive;
 import org.usfirst.frc.team3501.robot.subsystems.DriveTrain;
 import org.usfirst.frc.team3501.robot.subsystems.IntakeArm;
 import org.usfirst.frc.team3501.robot.subsystems.Shooter;
@@ -43,7 +43,7 @@ public class Robot extends IterativeRobot {
     // Scheduler.getInstance().add(new WaitCommand(1));
     // Scheduler.getInstance().add(new
     // MoveIntakeArm(Constants.IntakeArm.EXTEND));
-    Scheduler.getInstance().add(new TimeDrive(8, -.8));
+    Scheduler.getInstance().add(new Auton());
   }
 
   @Override
diff --git a/src/org/usfirst/frc/team3501/robot/commands/auton/Auton.java b/src/org/usfirst/frc/team3501/robot/commands/auton/Auton.java
new file mode 100644
index 00000000..5768c881
--- /dev/null
+++ b/src/org/usfirst/frc/team3501/robot/commands/auton/Auton.java
@@ -0,0 +1,18 @@
+package org.usfirst.frc.team3501.robot.commands.auton;
+
+import org.usfirst.frc.team3501.robot.commands.driving.TimeDrive;
+
+import edu.wpi.first.wpilibj.command.CommandGroup;
+
+/**
+ *
+ */
+public class Auton extends CommandGroup {
+
+  public Auton() {
+    addSequential(new TimeDrive(.5, -.4));
+    addSequential(new TimeDrive(.5, -.6));
+    addSequential(new TimeDrive(.5, -.8));
+    addSequential(new TimeDrive(7, -1));
+  }
+}
diff --git a/src/org/usfirst/frc/team3501/robot/commands/driving/TimeDrive.java b/src/org/usfirst/frc/team3501/robot/commands/driving/TimeDrive.java
index 4778da85..26218688 100644
--- a/src/org/usfirst/frc/team3501/robot/commands/driving/TimeDrive.java
+++ b/src/org/usfirst/frc/team3501/robot/commands/driving/TimeDrive.java
@@ -20,7 +20,6 @@ public class TimeDrive extends Command {
 
   public TimeDrive(double time, double speed) {
     requires(Robot.driveTrain);
-    this.setInterruptible(false);
 
     this.setTimeout(time);
     this.speed = speed;
-- 
2.30.2