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Add comments to all of the driveTrain PID commands and methods to explain what is...
[3501/stronghold-2016]
/
src
/
org
/
usfirst
/
frc
/
team3501
/
robot
/
commands
/
driving
/
DriveDistance.java
diff --git
a/src/org/usfirst/frc/team3501/robot/commands/driving/DriveDistance.java
b/src/org/usfirst/frc/team3501/robot/commands/driving/DriveDistance.java
index 1eb707c0dae32050dfb7ddcc9ff1681af05bee1e..81b6c5c16e8911b4b1daea07edc43e40dd8ed931 100644
(file)
--- a/
src/org/usfirst/frc/team3501/robot/commands/driving/DriveDistance.java
+++ b/
src/org/usfirst/frc/team3501/robot/commands/driving/DriveDistance.java
@@
-6,13
+6,18
@@
import org.usfirst.frc.team3501.robot.Robot;
import edu.wpi.first.wpilibj.command.Command;
/***
import edu.wpi.first.wpilibj.command.Command;
/***
- * This command will move the robot at the specified speed for the specified
- * distance.
+ * This command will drive the drivetrain a certain distance in inches
*
*
- * post-condition: has driven for the distance and speed specified
- *
- * @author Meryem and Avi
+ * @param distance
+ * is the distance we want to drive
+ * maxTimeOut is a catch just in case the robot malfunctions and never
+ * gets to the setpoint
*
*
+ * @code
+ * Repeatedly updates the driveTrain setpoint
+ * Finishes when the time goes over maxTimeOut or the driveTrain hits the
+ * setpoint
+ * end() disables the PID driveTrain
*/
public class DriveDistance extends Command {
private double maxTimeOut;
*/
public class DriveDistance extends Command {
private double maxTimeOut;
@@
-55,6
+60,5
@@
public class DriveDistance extends Command {
@Override
protected void interrupted() {
@Override
protected void interrupted() {
- end();
}
}
}
}