add DriveForTime command

[3501/2015-FRC-Spark] / src / org / usfirst / frc3501 / RiceCatRobot / commands / DriveFor.java

diff --git a/src/org/usfirst/frc3501/RiceCatRobot/commands/DriveFor.java b/src/org/usfirst/frc3501/RiceCatRobot/commands/DriveFor.java
deleted file mode 100644 (file)
index b614a07..0000000
--- a/src/org/usfirst/frc3501/RiceCatRobot/commands/DriveFor.java
+++ /dev/null
@@ -1,59 +0,0 @@
-package org.usfirst.frc3501.RiceCatRobot.commands;
-
-import org.usfirst.frc3501.RiceCatRobot.Robot;
-import org.usfirst.frc3501.RiceCatRobot.RobotMap.Direction;
-import org.usfirst.frc3501.RiceCatRobot.subsystems.DriveTrain;
-
-import edu.wpi.first.wpilibj.Timer;
-import edu.wpi.first.wpilibj.command.Command;
-
-/**
- * This command takes a time in seconds which is how long it should run
- *
- */
-public class DriveFor extends Command {
-  private double seconds;
-  private double speed;
-  private Timer timer;
-  private Direction direction;
-
-  public DriveFor(double seconds, double speed, Direction direction) {
-    // limit speed to the range [0, MOTOR_MAX_VAL]
-    this.speed = Math.max(speed, -speed);
-    this.speed = Math.min(speed, DriveTrain.MOTOR_MAX_VAL);
-
-    this.seconds = seconds;
-    this.direction = direction;
-  }
-
-  @Override
-  protected void initialize() {
-    timer = new Timer();
-    timer.reset();
-    timer.start();
-  }
-
-  @Override
-  protected void execute() {
-    if (direction == Direction.FORWARD) {
-      Robot.driveTrain.setMotorSpeeds(-speed, -speed);
-    } else if (direction == Direction.BACKWARD) {
-      Robot.driveTrain.setMotorSpeeds(speed, speed);
-    }
-  }
-
-  @Override
-  protected boolean isFinished() {
-    return timer.get() > seconds;
-  }
-
-  @Override
-  protected void end() {
-    Robot.driveTrain.setMotorSpeeds(0, 0);
-  }
-
-  @Override
-  protected void interrupted() {
-    end();
-  }
-}
\ No newline at end of file