challenge-bot.com Git - 3501/stronghold-2016/blob - src/org/usfirst/frc/team3501/robot/commands/driving/TimeDrive.java

   1 package org.usfirst.frc.team3501.robot.commands.driving;
   2
   3 import org.usfirst.frc.team3501.robot.Constants.Auton;
   4 import org.usfirst.frc.team3501.robot.Robot;
   5
   6 import edu.wpi.first.wpilibj.command.Command;
   7
   8 public class TimeDrive extends Command {
   9   double currentTime, targetTime, speed;
  10
  11   public TimeDrive() {
  12     this(Auton.DEFAULT_TIME, Auton.DEFAULT_SPEED);
  13   }
  14
  15   public TimeDrive(double time) {
  16     this(time, Auton.DEFAULT_SPEED);
  17   }
  18
  19   public TimeDrive(double time, double speed) {
  20     requires(Robot.driveTrain);
  21
  22     this.setTimeout(time);
  23     this.currentTime = 0;
  24     this.targetTime = time;
  25     this.speed = speed;
  26   }
  27
  28   @Override
  29   protected void initialize() {
  30   }
  31
  32   @Override
  33   protected void execute() {
  34     Robot.driveTrain.joystickDrive(speed, 0);
  35
  36   }
  37
  38   @Override
  39   protected boolean isFinished() {
  40     return this.isTimedOut();
  41   }
  42
  43   @Override
  44   protected void end() {
  45     Robot.driveTrain.stop();
  46   }
  47
  48   @Override
  49   protected void interrupted() {
  50     end();
  51   }
  52 }