add comments for PassLowBar

[3501/stronghold-2016] / src / org / usfirst / frc / team3501 / robot / commands / DriveForTime.java

package org.usfirst.frc.team3501.robot.commands;\r
\r
import org.usfirst.frc.team3501.robot.Robot;\r
\r
import edu.wpi.first.wpilibj.Timer;\r
import edu.wpi.first.wpilibj.command.Command;\r
\r
/**\r
 * This command\r
 */\r
public class DriveForTime extends Command {\r
\r
  private final static double DEFAULT_SPEED = 0.5;\r
  private double speed;\r
  private double seconds;\r
\r
  private Timer timer;\r
\r
  public DriveForTime(double seconds, double speed) {\r
    this.seconds = seconds;\r
    this.speed = speed;\r
  }\r
\r
  public DriveForTime(double seconds) {\r
    this(seconds, DEFAULT_SPEED);\r
  }\r
\r
  @Override\r
  protected void initialize() {\r
    timer = new Timer();\r
    timer.start();\r
\r
    Robot.driveTrain.setMotorSpeeds(speed, speed);\r
  }\r
\r
  @Override\r
  protected void execute() {\r
  }\r
\r
  @Override\r
  protected boolean isFinished() {\r
    if (timer.get() >= seconds)\r
      return true;\r
    return false;\r
  }\r
\r
  @Override\r
  protected void end() {\r
    Robot.driveTrain.setMotorSpeeds(0, 0);\r
  }\r
\r
  @Override\r
  protected void interrupted() {\r
  }\r
}\r