challenge-bot.com Git - 3501/2015-FRC-Spark/blob - src/org/usfirst/frc3501/RiceCatRobot/commands/DriveForTimesSequence.java

   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 import edu.wpi.first.wpilibj.command.CommandGroup;
   9
  10 /**
  11  * Command to drive an arbitrary sequences of speeds and times. You can use this
  12  * to approximate acceleration by driving 0.5 sec at speed 0.1, 0.5 sec at speed
  13  * 0.2, and so on.
  14  */
  15 public class DriveForTimesSequence extends CommandGroup {
  16
  17   /***
  18    *
  19    * @param timings
  20    *          an array of speeds and times. Each row represents a time and speed
  21    *          to drive at. Column 0 represents the time in seconds to drive for
  22    *          and column 1 represents the speed to drive at. E.g. { {1, 0.5},
  23    *          {2, 0.75} } will drive at 0.5 for 1 second and 0.75 for 2 seconds
  24    */
  25   public DriveForTimesSequence(double[][] timings) {
  26     for (int i = 0; i < timings.length; i++) {
  27       double time = timings[i][0];
  28       double speed = timings[i][1];
  29
  30       addSequential(new DriveForTime(time, speed));
  31     }
  32   }
  33 }