The use of did is used when behavior was once common but does not persist into the present or future.
The use of have is used when the behavior persists into the future.
When faced with difficult situations [in the past] you succeeded; you always did [succeed when you faced them in the past].
When faced with difficult situations [in the future] you will succeed; you always have [succeeded when facing difficult situations].
You use the verb tense and did or have to let the listener know whether you're talking about past events of future expectations.