X-Git-Url: http://challenge-bot.com/repos/?a=blobdiff_plain;f=src%2Forg%2Fusfirst%2Ffrc%2Fteam3501%2Frobot%2Fcommands%2Fdriving%2FTimeDrive.java;fp=src%2Forg%2Fusfirst%2Ffrc%2Fteam3501%2Frobot%2Fcommands%2Fdriving%2FTimeDrive.java;h=e4c1d75bc360afdcdb9e4ab9d7177ae61c2179bc;hb=2e74db51ee32c8a7a297d5e04150ffe2c408ee25;hp=e9a8f9f34bb598906cdcb4e2b4d8bb90e4b5e612;hpb=5aa7457a990473a5df1de74654d56418e10daaa7;p=3501%2Fstronghold-2016

diff --git a/src/org/usfirst/frc/team3501/robot/commands/driving/TimeDrive.java b/src/org/usfirst/frc/team3501/robot/commands/driving/TimeDrive.java
index e9a8f9f3..e4c1d75b 100644
--- a/src/org/usfirst/frc/team3501/robot/commands/driving/TimeDrive.java
+++ b/src/org/usfirst/frc/team3501/robot/commands/driving/TimeDrive.java
@@ -8,7 +8,7 @@ import edu.wpi.first.wpilibj.command.Command;
 
 public class TimeDrive extends Command {
   Timer timer;
-  double currentTime, targetTime, speed;
+  double speed, time;
 
   public TimeDrive() {
     this(Auton.DEFAULT_TIME, Auton.DEFAULT_SPEED);
@@ -22,28 +22,23 @@ public class TimeDrive extends Command {
     requires(Robot.driveTrain);
 
     timer = new Timer();
-    this.currentTime = 0;
-    this.targetTime = time;
     this.speed = speed;
   }
 
   @Override
   protected void initialize() {
     timer.start();
+    Robot.driveTrain.setMotorSpeeds(speed, speed);
   }
 
   @Override
   protected void execute() {
-    currentTime = timer.get();
 
-    double output = speed * ((targetTime - currentTime) / (targetTime));
-
-    Robot.driveTrain.setMotorSpeeds(output, output);
   }
 
   @Override
   protected boolean isFinished() {
-    return currentTime >= targetTime;
+    return time >= time;
   }
 
   @Override