challenge-bot.com Git - 3501/2017steamworks/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.Robot;
   4
   5 import edu.wpi.first.wpilibj.Timer;
   6 import edu.wpi.first.wpilibj.command.Command;
   7
   8 /***
   9  * This commands make the robot drive for a specified time with the motors set
  10  * at a specified value between 1 and -1
  11  *
  12  * parameters: time: how long the robot should drive for - in seconds motorVal:
  13  * the motor input to set the motors to
  14  *
  15  *
  16  */
  17 public class TimeDrive extends Command {
  18   Timer timer;
  19   double motorVal, motorValTwo, time;
  20
  21   public TimeDrive(final double time, final double motorVal) {
  22     requires(Robot.getDriveTrain());
  23
  24     timer = new Timer();
  25     this.time = time;
  26     this.motorVal = motorVal;
  27   }
  28
  29   @Override
  30   protected void initialize() {
  31     timer.start();
  32   }
  33
  34   @Override
  35   protected void execute() {
  36     double[] motorValues;
  37     motorValues = Robot.getDriveTrain().correctStraightness();
  38     motorVal = motorValues[0];
  39     motorValTwo = motorValues[1];
  40     Robot.getDriveTrain().setMotorValues(motorVal, motorValTwo);
  41
  42   }
  43
  44   @Override
  45   protected boolean isFinished() {
  46     return timer.get() >= time;
  47   }
  48
  49   @Override
  50   protected void end() {
  51     Robot.getDriveTrain().stop();
  52   }
  53
  54   @Override
  55   protected void interrupted() {
  56     end();
  57   }
  58 }