Recode everything for new robot

[3501/stronghold-2016] / src / org / usfirst / frc / team3501 / robot / commands / driving / TurnForTime.java

diff --git a/src/org/usfirst/frc/team3501/robot/commands/driving/TurnForTime.java b/src/org/usfirst/frc/team3501/robot/commands/driving/TurnForTime.java
index 3a5f61ba80dd5b8ba7cb9d270748f68ccebfa9b7..368d10459f2289f94a406ff3ecc1ece79653592b 100755 (executable)
--- a/src/org/usfirst/frc/team3501/robot/commands/driving/TurnForTime.java
+++ b/src/org/usfirst/frc/team3501/robot/commands/driving/TurnForTime.java
@@ -1,6 +1,6 @@
 package org.usfirst.frc.team3501.robot.commands.driving;
 
-import org.usfirst.frc.team3501.robot.Constants.DeadReckoning;
+import org.usfirst.frc.team3501.robot.Constants;
 import org.usfirst.frc.team3501.robot.Constants.Direction;
 import org.usfirst.frc.team3501.robot.Robot;
 
@@ -18,7 +18,7 @@ import edu.wpi.first.wpilibj.command.Command;
  *
  * TODO: test for speed/ time constants for specific angles (ex. 30 degrees, 60
  * degrees, 90 degrees)
- * 
+ *
  * @author Meryem, Avi, and Sarvesh
  *
  */
@@ -36,7 +36,7 @@ public class TurnForTime extends Command {
   }
 
   public TurnForTime(double seconds, Direction direction) {
-    this(seconds, direction, DeadReckoning.DEFAULT_SPEED);
+    this(seconds, direction, Constants.Auton.DEFAULT_SPEED);
   }
 
   @Override
@@ -45,9 +45,9 @@ public class TurnForTime extends Command {
     timer.start();
 
     if (direction == Direction.RIGHT) {
-      Robot.driveTrain.setMotorSpeeds(speed, -speed);
+      Robot.driveTrain.drive(speed, -speed);
     } else if (direction == Direction.LEFT) {
-      Robot.driveTrain.setMotorSpeeds(-speed, speed);
+      Robot.driveTrain.drive(-speed, speed);
     }
   }
 
@@ -58,17 +58,16 @@ public class TurnForTime extends Command {
 
   @Override
   protected boolean isFinished() {
-    if (timer.get() >= seconds)
-      return true;
-    return false;
+    return (timer.get() >= seconds);
   }
 
   @Override
   protected void end() {
-    Robot.driveTrain.setMotorSpeeds(0, 0);
+    Robot.driveTrain.drive(0, 0);
   }
 
   @Override
   protected void interrupted() {
+    end();
   }
 }