X-Git-Url: http://challenge-bot.com/repos/?a=blobdiff_plain;f=src%2Forg%2Fusfirst%2Ffrc%2Fteam3501%2Frobot%2Fcommands%2FDriveFor.java;fp=src%2Forg%2Fusfirst%2Ffrc%2Fteam3501%2Frobot%2Fcommands%2FDriveFor.java;h=c1ca5076102cb20da7aa7bdcdce6acd6a8351a49;hb=e81578e3624e61c2a8eb5b5c6b1015a2999784e7;hp=0000000000000000000000000000000000000000;hpb=d24e8611dc96b16cc613a0de54bde4e682a06ba2;p=3501%2F3501-spark-go

diff --git a/src/org/usfirst/frc/team3501/robot/commands/DriveFor.java b/src/org/usfirst/frc/team3501/robot/commands/DriveFor.java
new file mode 100644
index 0000000..c1ca507
--- /dev/null
+++ b/src/org/usfirst/frc/team3501/robot/commands/DriveFor.java
@@ -0,0 +1,22 @@
+package org.usfirst.frc.team3501.robot.commands;
+
+public class DriveFor extends CommandBase {
+
+    private double speed;
+
+    public DriveFor(double secs, double speed) {
+        super("DriveFor");
+        requires(drivetrain);
+
+        setTimeout(secs);
+        this.speed = speed;
+    }
+
+    protected void execute() {
+        drivetrain.driveRaw(speed, 0);
+    }
+
+    protected boolean isFinished() {
+        return isTimedOut();
+    }
+}