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.Timer;
   7 import edu.wpi.first.wpilibj.command.Command;
   8
   9 public class TimeDrive extends Command {
  10   Timer timer;
  11   double speed, time;
  12
  13   public TimeDrive() {
  14     this(Auton.DEFAULT_TIME, Auton.DEFAULT_SPEED);
  15   }
  16
  17   public TimeDrive(double time) {
  18     this(time, Auton.DEFAULT_SPEED);
  19   }
  20
  21   public TimeDrive(double time, double speed) {
  22     requires(Robot.driveTrain);
  23
  24     timer = new Timer();
  25     this.speed = speed;
  26   }
  27
  28   @Override
  29   protected void initialize() {
  30     timer.start();
  31     Robot.driveTrain.setMotorSpeeds(speed, speed);
  32   }
  33
  34   @Override
  35   protected void execute() {
  36
  37   }
  38
  39   @Override
  40   protected boolean isFinished() {
  41     return time >= time;
  42   }
  43
  44   @Override
  45   protected void end() {
  46     Robot.driveTrain.stop();
  47   }
  48
  49   @Override
  50   protected void interrupted() {
  51     end();
  52   }
  53 }