Change to 2 space instead of 4 space per Danny's request

[3501/2015-FRC-Spark] / src / org / usfirst / frc3501 / RiceCatRobot / commands / DriveFor.java

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;

/**
 * This command takes a time in seconds which is how long it should run
 *
 */
public class DriveFor extends Command {
  private double seconds;
  private Timer timer;
  private 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 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 void end() {
    Robot.driveTrain.arcadeDrive(0, 0);
  }

  @Override
  protected void interrupted() {
    end();
  }
}