| 1 | package org.usfirst.frc.team3501.robot.autons; |
| 2 | |
| 3 | import org.usfirst.frc.team3501.robot.RobotMap; |
| 4 | import org.usfirst.frc.team3501.robot.commands.CommandBase; |
| 5 | |
| 6 | public class DrivePastStep extends CommandBase { |
| 7 | |
| 8 | private double speed; |
| 9 | |
| 10 | public DrivePastStep() { |
| 11 | super("DrivePastStep"); |
| 12 | requires(drivetrain); |
| 13 | |
| 14 | setTimeout(RobotMap.PAST_STEP_TIME); |
| 15 | this.speed = RobotMap.PAST_STEP_SPEED; |
| 16 | } |
| 17 | |
| 18 | protected void execute() { |
| 19 | drivetrain.goForward(speed); |
| 20 | } |
| 21 | |
| 22 | protected boolean isFinished() { |
| 23 | return isTimedOut(); |
| 24 | } |
| 25 | |
| 26 | protected void end() { |
| 27 | drivetrain.stop(); |
| 28 | } |
| 29 | } |