overload constructor

[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 82dff37237ebbecd43458157343dbf16748c43bf..3ec3974d7b1fb9e9d64338cf4cad744c3a22e7da 100755 (executable)
--- a/src/org/usfirst/frc/team3501/robot/commands/driving/TurnForTime.java
+++ b/src/org/usfirst/frc/team3501/robot/commands/driving/TurnForTime.java
@@ -8,7 +8,7 @@ import edu.wpi.first.wpilibj.command.Command;
 
 /***
  * This command turns the robot in a specified direction for a specified
- * duration.
+ * duration in seconds.
  *
  * pre-condition: robot is on a flat surface
  *
@@ -20,31 +20,39 @@ import edu.wpi.first.wpilibj.command.Command;
  */
 
 public class TurnForTime extends Command {
-  private final double SPEED = 0.5;
+  private static final double DEFAULT_SPEED = 0.5;
   private Direction direction;
   private double seconds;
   private Timer timer;
+  private double speed;
 
-  public TurnForTime(double seconds, Direction direction) {
+  public TurnForTime(double seconds, Direction direction, double speed) {
     this.seconds = seconds;
     this.direction = direction;
+    this.speed = speed;
+  }
+
+  public TurnForTime(double seconds, Direction direction) {
+    this(seconds, direction, DEFAULT_SPEED);
   }
 
   @Override
   protected void initialize() {
     timer = new Timer();
     timer.start();
-  }
 
-  @Override
-  protected void execute() {
     if (direction == Direction.RIGHT) {
-      Robot.driveTrain.setMotorSpeeds(SPEED, -SPEED);
+      Robot.driveTrain.setMotorSpeeds(speed, -speed);
     } else if (direction == Direction.LEFT) {
-      Robot.driveTrain.setMotorSpeeds(-SPEED, SPEED);
+      Robot.driveTrain.setMotorSpeeds(-speed, speed);
     }
   }
 
+  @Override
+  protected void execute() {
+
+  }
+
   @Override
   protected boolean isFinished() {
     if (timer.get() >= seconds)
@@ -54,6 +62,7 @@ public class TurnForTime extends Command {
 
   @Override
   protected void end() {
+    Robot.driveTrain.setMotorSpeeds(0, 0);
   }
 
   @Override