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package edu.stuy.commands;

import edu.wpi.first.wpilibj.command.CommandGroup;
import edu.wpi.first.wpilibj.command.WaitCommand;

/**
 *
 * @author Kevin Wang
 */
public class Autonomous extends CommandGroup {

    public static final double FENDER_DEPTH = 38.5;

    public static final double CONVEY_AUTO_TIME = 6;



    //TODO: update with testing
    //Time to delay is [(distance to travel)/rate + 0.2] * 1.25
    // 0.2 is a guess for the amount of time to reach max speed
    // 1.25:  add 25% more time to account for friction
    //    drive train speed is based on free speed; friction will make it slower

    // distance is ~68" or ~5.7', rate is 10 ft/s. Time is 1.2s, Your Mileage May Vary
    public static final double t_closeKeyToFender = 3.9;

    // distance is ~50" or ~4', rate is ~10 ft/s. Time is 0.4s, Your Mileage May Vary
    //public static final double t_farKeyToBridge = 0.75;
    public static final double t_farKeyToBridge = 2.7; // lower speed, try this (untested)

    // distance is ~136" or ~12', rate is 10 ft/s. Time is 1.2s, Your Mileage May Vary
    public static final double t_closeKeyToBridge = 5.0;  // lower speed, try this (untested)


    public Autonomous() {
        addSequential(new DrivetrainSetGear(true));
        addSequential(new WaitCommand(CommandBase.oi.getDelayTime()));
        switch (CommandBase.oi.getAutonSetting()) {
            case 1:
                addSequential(new AutonSetting1());
                break;
            case 2:
                addSequential(new AutonSetting2());
                break;
            case 3:
                addSequential(new AutonSetting3());
                break;
            case 4:
                addSequential(new AutonSetting4());
                break;
            case 5:
                addSequential(new AutonSetting5());
                break;
            case 6:
                addSequential(new AutonSetting6());
                break;
            case 7:
                addSequential(new AutonSetting7());
                break;
            default:
                break;
        }
    }
}

@@ -1053,16 +1053,21 @@
 ge = 2.7
+*2.85
 ; // low
@@ -1239,16 +1239,21 @@
 ge = 5.0
+*2.85
 ;  // lo
@@ -1359,11 +1359,12 @@
 ear(
-tru
+fals
 e));

Put Auton in low gear; adjust time intervals for driving