add javadocs for DriveStraightForTime and include timer code

[3501/2017steamworks] / src / org / usfirst / frc / team3501 / robot / commands / driving / DriveStraightForTime.java

package org.usfirst.frc.team3501.robot.commands.driving;

import org.usfirst.frc.team3501.robot.Robot;

import edu.wpi.first.wpilibj.Timer;
import edu.wpi.first.wpilibj.command.Command;

/**
 * This command drives the robot for a specified time while adjusting the right
 * and left motor values so that the robot will drive straight
 *
 * parameters:
 * time in seconds
 * motorVal
 *
 * @author Meryem
 * @author Niyati
 *
 */
public class DriveStraightForTime extends Command {
  Timer timer;
  double time, motorVal;

  public DriveStraightForTime(double time, double motorVal) {
    requires(Robot.getDriveTrain());

    timer = new Timer();
    this.time = time;

    this.motorVal = motorVal;

  }

  @Override
  protected void initialize() {
    timer.start();
  }

  @Override
  protected void execute() {
  }

  @Override
  protected boolean isFinished() {
    return timer.get() >= time;
  }

  @Override
  protected void end() {
    Robot.getDriveTrain().stop();
  }

  @Override
  protected void interrupted() {
    end();
  }
}