challenge-bot.com Git - 3501/2015-FRC-Spark/blob - src/org/usfirst/frc3501/RiceCatRobot/commands/DriveForTime.java

   1 package org.usfirst.frc3501.RiceCatRobot.commands;
   2
   3 import org.usfirst.frc3501.RiceCatRobot.Robot;
   4 import org.usfirst.frc3501.RiceCatRobot.RobotMap.Direction;
   5
   6 import edu.wpi.first.wpilibj.Timer;
   7 import edu.wpi.first.wpilibj.command.Command;
   8
   9 /**
  10  * This command takes a time in seconds which is how long it should run
  11  *
  12  */
  13 public class DriveForTime extends Command {
  14   private double seconds;
  15   private Timer timer;
  16   private double speed;
  17
  18   /***
  19    * Drive at a fixed speed (speed) for a fixed time (seconds).
  20    *
  21    * @param seconds
  22    *          the number of seconds to drive
  23    * @param speed
  24    *          a motor value in the range [-1, 1]. Negative numbers are
  25    *          interpreted as driving backwards. 0 is stopped.
  26    */
  27   public DriveForTime(double seconds, double speed) {
  28     this.seconds = seconds;
  29     this.speed = -speed; // note: setMotorSpeeds(-1, -1) would be
  30     // forward full speed, so we take the opposite
  31     // of the input to achieve this.
  32   }
  33
  34   @Override
  35   protected void initialize() {
  36     this.setTimeout(seconds);
  37     Robot.driveTrain.setMotorSpeeds(speed, speed);
  38   }
  39
  40   @Override
  41   protected void execute() {
  42     // nothing here because motors are already set
  43   }
  44
  45   @Override
  46   protected boolean isFinished() {
  47     return this.isTimedOut();
  48   }
  49
  50   @Override
  51   protected void end() {
  52     Robot.driveTrain.stop();
  53   }
  54
  55   @Override
  56   protected void interrupted() {
  57     end();
  58   }
  59 }