X-Git-Url: http://challenge-bot.com/repos/?a=blobdiff_plain;f=src%2Forg%2Fusfirst%2Ffrc%2Fteam3501%2Frobot%2Fautons%2FDrivePastStep.java;fp=src%2Forg%2Fusfirst%2Ffrc%2Fteam3501%2Frobot%2Fautons%2FDrivePastStep.java;h=d3105f849a0eab994acf68d5682116a8baac07b1;hb=3e4790a8551e2a7c20db705dea86cb59f3c84696;hp=0000000000000000000000000000000000000000;hpb=b449387d8a410c4d224b9ebca4cbe6b6689ff26b;p=3501%2F3501-spark-go

diff --git a/src/org/usfirst/frc/team3501/robot/autons/DrivePastStep.java b/src/org/usfirst/frc/team3501/robot/autons/DrivePastStep.java
new file mode 100644
index 0000000..d3105f8
--- /dev/null
+++ b/src/org/usfirst/frc/team3501/robot/autons/DrivePastStep.java
@@ -0,0 +1,29 @@
+package org.usfirst.frc.team3501.robot.autons;
+
+import org.usfirst.frc.team3501.robot.RobotMap;
+import org.usfirst.frc.team3501.robot.commands.CommandBase;
+
+public class DrivePastStep extends CommandBase {
+
+    private double speed;
+
+    public DrivePastStep() {
+        super("DrivePastStep");
+        requires(drivetrain);
+
+        setTimeout(RobotMap.PAST_STEP_TIME);
+        this.speed = RobotMap.PAST_STEP_SPEED;
+    }
+
+    protected void execute() {
+        drivetrain.goForward(speed);
+    }
+
+    protected boolean isFinished() {
+        return isTimedOut();
+    }
+
+    protected void end() {
+        drivetrain.stop();
+    }
+}