X-Git-Url: http://challenge-bot.com/repos/?a=blobdiff_plain;f=src%2Forg%2Fusfirst%2Ffrc3501%2FRiceCatRobot%2Fcommands%2FDriveFor.java;h=e2473538094e9aa233c946b99f00c017e8763669;hb=e3bfff965c6d5a25b0d98b12b73fbf7eed623326;hp=6e61e616bd0bf16d4b09942224edef3c73908be4;hpb=b5f932ecccf219b28cbebf44c8896347621f6364;p=3501%2F2015-FRC-Spark

diff --git a/src/org/usfirst/frc3501/RiceCatRobot/commands/DriveFor.java b/src/org/usfirst/frc3501/RiceCatRobot/commands/DriveFor.java
index 6e61e61..e247353 100644
--- a/src/org/usfirst/frc3501/RiceCatRobot/commands/DriveFor.java
+++ b/src/org/usfirst/frc3501/RiceCatRobot/commands/DriveFor.java
@@ -11,66 +11,62 @@ import edu.wpi.first.wpilibj.command.Command;
  *
  */
 public class DriveFor extends Command {
-    private double seconds;
-    private Timer timer;
-    private Direction direction;
+  private double seconds;
+  private Timer timer;
+  private Direction direction;
 
-    public DriveFor(double seconds, Direction direction) {
-        this.seconds = seconds;
-        this.direction = direction;
+  public DriveFor(double seconds, Direction direction) {
+    this.seconds = seconds;
+    this.direction = direction;
 
-    }
+  }
 
-    @Override
-    protected void initialize() {
-        timer = new Timer();
-        timer.reset();
-        timer.start();
-    }
+  @Override
+  protected void initialize() {
+    timer = new Timer();
+    timer.reset();
+    timer.start();
+  }
 
-    @Override
-    protected void execute() {
-        System.out.println(timer.get());
-        if (direction == Direction.FORWARD) {
-            if (timer.get() < seconds * 0.2) { // for the first 20% of time, run
-                                               // the robot at -.5 speed
-                Robot.driveTrain.arcadeDrive(-0.3, 0);
-            } else if (timer.get() >= seconds * 0.2
-                    && timer.get() <= seconds * 0.8) { // for the +20% - 75%
-                                                       // time, move the robot
-                                                       // at -.3 speed.
-                Robot.driveTrain.arcadeDrive(-0.5, 0);
-            } else if (timer.get() < seconds) {
-                Robot.driveTrain.arcadeDrive(-0.25, 0);
-            } else {
-                Robot.driveTrain.arcadeDrive(0, 0);
-            }
-        } else if (direction == Direction.BACKWARD) {
-            if (timer.get() < seconds * 0.2) {
-                Robot.driveTrain.arcadeDrive(0.3, 0);
-            } else if (timer.get() >= seconds * 0.2
-                    && timer.get() <= seconds * 0.8) {
-                Robot.driveTrain.arcadeDrive(0.5, 0);
-            } else if (timer.get() < seconds) {
-                Robot.driveTrain.arcadeDrive(0.25, 0);
-            } else {
-                Robot.driveTrain.arcadeDrive(0, 0);
-            }
-        }
+  @Override
+  protected void execute() {
+    System.out.println(timer.get());
+    if (direction == Direction.FORWARD) {
+      if (timer.get() < seconds * 0.2) { // for the first 20% of time, run
+                                         // the robot at -.5 speed
+        Robot.driveTrain.arcadeDrive(-0.3, 0);
+      } else if (timer.get() >= seconds * 0.2 && timer.get() <= seconds * 0.8) {
+        Robot.driveTrain.arcadeDrive(-0.5, 0);
+      } else if (timer.get() < seconds) {
+        Robot.driveTrain.arcadeDrive(-0.25, 0);
+      } else {
+        Robot.driveTrain.arcadeDrive(0, 0);
+      }
+    } else if (direction == Direction.BACKWARD) {
+      if (timer.get() < seconds * 0.2) {
+        Robot.driveTrain.arcadeDrive(0.3, 0);
+      } else if (timer.get() >= seconds * 0.2 && timer.get() <= seconds * 0.8) {
+        Robot.driveTrain.arcadeDrive(0.5, 0);
+      } else if (timer.get() < seconds) {
+        Robot.driveTrain.arcadeDrive(0.25, 0);
+      } else {
+        Robot.driveTrain.arcadeDrive(0, 0);
+      }
     }
+  }
 
-    @Override
-    protected boolean isFinished() {
-        return timer.get() > seconds;
-    }
+  @Override
+  protected boolean isFinished() {
+    return timer.get() > seconds;
+  }
 
-    @Override
-    protected void end() {
-        Robot.driveTrain.arcadeDrive(0, 0);
-    }
+  @Override
+  protected void end() {
+    Robot.driveTrain.arcadeDrive(0, 0);
+  }
 
-    @Override
-    protected void interrupted() {
-        end();
-    }
+  @Override
+  protected void interrupted() {
+    end();
+  }
 }