| 1 | package org.usfirst.frc3501.RiceCatRobot.commands; |
| 2 | |
| 3 | import org.usfirst.frc3501.RiceCatRobot.Robot; |
| 4 | import org.usfirst.frc3501.RiceCatRobot.RobotMap.Direction; |
| 5 | |
| 6 | import edu.wpi.first.wpilibj.Timer; |
| 7 | import edu.wpi.first.wpilibj.command.Command; |
| 8 | |
| 9 | /** |
| 10 | * This command takes a time in seconds which is how long it should run |
| 11 | * |
| 12 | */ |
| 13 | public class DriveFor extends Command { |
| 14 | private double seconds; |
| 15 | private Timer timer; |
| 16 | private Direction direction; |
| 17 | |
| 18 | public DriveFor(double seconds, Direction direction) { |
| 19 | this.seconds = seconds; |
| 20 | this.direction = direction; |
| 21 | |
| 22 | } |
| 23 | |
| 24 | @Override |
| 25 | protected void initialize() { |
| 26 | timer = new Timer(); |
| 27 | timer.reset(); |
| 28 | timer.start(); |
| 29 | } |
| 30 | |
| 31 | @Override |
| 32 | protected void execute() { |
| 33 | System.out.println(timer.get()); |
| 34 | if (direction == Direction.FORWARD) { |
| 35 | if (timer.get() < seconds * 0.2) { // for the first 20% of time, run |
| 36 | // the robot at -.5 speed |
| 37 | Robot.driveTrain.arcadeDrive(-0.3, 0); |
| 38 | } else if (timer.get() >= seconds * 0.2 |
| 39 | && timer.get() <= seconds * 0.8) { // for the +20% - 75% |
| 40 | // time, move the robot |
| 41 | // at -.3 speed. |
| 42 | Robot.driveTrain.arcadeDrive(-0.5, 0); |
| 43 | } else if (timer.get() < seconds) { |
| 44 | Robot.driveTrain.arcadeDrive(-0.25, 0); |
| 45 | } else { |
| 46 | Robot.driveTrain.arcadeDrive(0, 0); |
| 47 | } |
| 48 | } else if (direction == Direction.BACKWARD) { |
| 49 | if (timer.get() < seconds * 0.2) { |
| 50 | Robot.driveTrain.arcadeDrive(0.3, 0); |
| 51 | } else if (timer.get() >= seconds * 0.2 |
| 52 | && timer.get() <= seconds * 0.8) { |
| 53 | Robot.driveTrain.arcadeDrive(0.5, 0); |
| 54 | } else if (timer.get() < seconds) { |
| 55 | Robot.driveTrain.arcadeDrive(0.25, 0); |
| 56 | } else { |
| 57 | Robot.driveTrain.arcadeDrive(0, 0); |
| 58 | } |
| 59 | } |
| 60 | } |
| 61 | |
| 62 | @Override |
| 63 | protected boolean isFinished() { |
| 64 | return timer.get() > seconds; |
| 65 | } |
| 66 | |
| 67 | @Override |
| 68 | protected void end() { |
| 69 | Robot.driveTrain.arcadeDrive(0, 0); |
| 70 | } |
| 71 | |
| 72 | @Override |
| 73 | protected void interrupted() { |
| 74 | end(); |
| 75 | } |
| 76 | } |