- @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);
+ }