change code that used setMotorSpeeds method to drive method

[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 f2e2540c7bd091966ac722f9534cbe3026047e2a..a613da8efc7c02aee927068c16ade3001f523517 100755 (executable)
--- a/src/org/usfirst/frc/team3501/robot/commands/driving/TurnForTime.java
+++ b/src/org/usfirst/frc/team3501/robot/commands/driving/TurnForTime.java
@@ -1,47 +1,69 @@
 package org.usfirst.frc.team3501.robot.commands.driving;
 
+import org.usfirst.frc.team3501.robot.Constants.DeadReckoning;
 import org.usfirst.frc.team3501.robot.Constants.Direction;
 import org.usfirst.frc.team3501.robot.Robot;
 
 import edu.wpi.first.wpilibj.Timer;
 import edu.wpi.first.wpilibj.command.Command;
 
+/***
+ * This command turns the robot in a specified direction for a specified
+ * duration in seconds.
+ *
+ * pre-condition: robot is on a flat surface
+ *
+ * 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
+ *
+ */
+
 public class TurnForTime extends Command {
-  private final double 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, DeadReckoning.DEFAULT_SPEED);
   }
 
   @Override
   protected void initialize() {
     timer = new Timer();
     timer.start();
+
+    if (direction == Direction.RIGHT) {
+      Robot.driveTrain.drive(speed, -speed);
+    } else if (direction == Direction.LEFT) {
+      Robot.driveTrain.drive(-speed, speed);
+    }
   }
 
   @Override
   protected void execute() {
 
-    if (direction == Direction.RIGHT) {
-      Robot.driveTrain.setMotorSpeeds(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.drive(0, 0);
   }
 
   @Override