1 package org
.usfirst
.frc3501
.RiceCatRobot
.commands
;
3 import org
.usfirst
.frc3501
.RiceCatRobot
.Robot
;
4 import org
.usfirst
.frc3501
.RiceCatRobot
.RobotMap
.Direction
;
6 import edu
.wpi
.first
.wpilibj
.Timer
;
7 import edu
.wpi
.first
.wpilibj
.command
.Command
;
9 public class TurnFor
extends Command
{
10 private double seconds
;
12 private Direction direction
;
14 public TurnFor(double seconds
, Direction direction
) {
15 this.seconds
= seconds
;
16 this.direction
= direction
;
20 protected void initialize() {
26 protected void execute() {
27 if (direction
== Direction
.LEFT
) {
28 Robot
.driveTrain
.arcadeDrive(0, -0.5);
29 } else if (direction
== Direction
.RIGHT
) {
30 Robot
.driveTrain
.arcadeDrive(0, 0.5);
32 Robot
.driveTrain
.arcadeDrive(0, 0);
37 protected boolean isFinished() {
38 System
.out
.println(timer
.get());
39 System
.out
.println(seconds
);
40 if (timer
.get() > seconds
) {
41 Robot
.driveTrain
.arcadeDrive(0, 0);
43 return timer
.get() > seconds
;
47 protected void end() {
51 protected void interrupted() {