* post-condition: robot has turned in the specified direction for the specified
* time
*
+ * TODO: test for speed/ time constants for specific angles (ex. 30 degrees, 60
+ * degrees, 90 degrees)
+ *
* @author Meryem, Avi, and Sarvesh
*
*/
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);
}
@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