add DriveForTime command

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

diff --git a/src/org/usfirst/frc3501/RiceCatRobot/commands/DriveForTime.java b/src/org/usfirst/frc3501/RiceCatRobot/commands/DriveForTime.java
new file mode 100644 (file)
index 0000000..9f7d91b
--- /dev/null
+++ b/src/org/usfirst/frc3501/RiceCatRobot/commands/DriveForTime.java
@@ -0,0 +1,59 @@
+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 DriveForTime extends Command {
+  private double seconds;
+  private double speed;
+  private Timer timer;
+  private Direction direction;
+
+  public DriveForTime(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();
+  }
+}
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