From: David <david.dobervich@gmail.com>
Date: Fri, 13 Nov 2015 16:55:50 +0000 (-0800)
Subject: add DriveForTimesSequence command
X-Git-Url: http://challenge-bot.com/repos/?a=commitdiff_plain;h=bb0075828b977a2019e6f5212cf8040fe2354c5e;p=3501%2F2015-FRC-Spark

add DriveForTimesSequence command
---

diff --git a/src/org/usfirst/frc3501/RiceCatRobot/commands/DriveForTimesSequence.java b/src/org/usfirst/frc3501/RiceCatRobot/commands/DriveForTimesSequence.java
new file mode 100644
index 0000000..d5d4b44
--- /dev/null
+++ b/src/org/usfirst/frc3501/RiceCatRobot/commands/DriveForTimesSequence.java
@@ -0,0 +1,37 @@
+package org.usfirst.frc3501.RiceCatRobot.commands;
+
+import org.usfirst.frc3501.RiceCatRobot.Robot;
+import org.usfirst.frc3501.RiceCatRobot.RobotMap.Direction;
+
+import edu.wpi.first.wpilibj.Timer;
+import edu.wpi.first.wpilibj.command.Command;
+import edu.wpi.first.wpilibj.command.CommandGroup;
+
+/**
+ * Command to drive an arbitrary sequences of speeds and times. You can use this
+ * to approximate acceleration by driving 0.5 sec at speed 0.1, 0.5 sec at speed
+ * 0.2, and so on.
+ */
+public class DriveForTimesSequence extends CommandGroup {
+
+  /***
+   *
+   * @param timings
+   *          an array of speeds and times. Each row represents a time and speed
+   *          to drive at. Column 0 represents the time in seconds to drive for
+   *          and column 1 represents the speed to drive at. E.g. { {1, 0.5},
+   *          {2, 0.75} } will drive at 0.5 for 1 second and 0.75 for 2 seconds
+   *
+   * @param direction
+   *          this is Direction.Forward or Direction.Backward all speeds in the
+   *          timings array will apply in this direction.
+   */
+  public DriveForTimesSequence(double[][] timings, Direction direction) {
+    for (int i = 0; i < timings.length; i++) {
+      double time = timings[i][0];
+      double speed = timings[i][1];
+
+      addSequential(new DriveFor(time, speed, direction));
+    }
+  }
+}
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