import org.usfirst.frc.team3501.robot.Robot;
+import edu.wpi.first.wpilibj.Timer;
import edu.wpi.first.wpilibj.command.Command;
-/**
+/***
+ * This commands make the robot drive for a specified time with the motors set
+ * at a specified value between 1 and -1
+ *
+ * parameters:
+ * time: how long the robot should drive for - in seconds
+ * motorVal: the motor input to set the motors to
+ *
*
*/
public class TimeDrive extends Command {
-
- public TimeDrive() {
- requires(Robot.getDriveTrain());
- }
-
- // Called just before this Command runs the first time
- @Override
- protected void initialize() {
- }
-
- // Called repeatedly when this Command is scheduled to run
- @Override
- protected void execute() {
- }
-
- // Make this return true when this Command no longer needs to run execute()
- @Override
- protected boolean isFinished() {
- return false;
- }
-
- // Called once after isFinished returns true
- @Override
- protected void end() {
- }
-
- // Called when another command which requires one or more of the same
- // subsystems is scheduled to run
- @Override
- protected void interrupted() {
- }
+ Timer timer;
+ double motorVal, time;
+
+ public TimeDrive(final double time, final double motorVal) {
+ requires(Robot.getDriveTrain());
+
+ timer = new Timer();
+ this.time = time;
+ this.motorVal = motorVal;
+ }
+
+ @Override
+ protected void initialize() {
+ timer.start();
+ }
+
+ @Override
+ protected void execute() {
+ Robot.getDriveTrain().setMotorValues(motorVal, motorVal);
+
+ }
+
+ @Override
+ protected boolean isFinished() {
+ return timer.get() >= time;
+ }
+
+ @Override
+ protected void end() {
+ Robot.getDriveTrain().stop();
+ }
+
+ @Override
+ protected void interrupted() {
+ end();
+ }
}