challenge-bot.com Git - 3501/2017steamworks/blob - src/org/usfirst/frc/team3501/robot/commands/driving/TimeDrive.java

   1 package org.usfirst.frc.team3501.robot.commands.driving;
   2
   3 import org.usfirst.frc.team3501.robot.Robot;
   4
   5 import edu.wpi.first.wpilibj.Timer;
   6 import edu.wpi.first.wpilibj.command.Command;
   7
   8 /**
   9  *
  10  */
  11 public class TimeDrive extends Command {
  12   Timer timer;
  13   double motorVal, time;
  14
  15   public TimeDrive(final double time, final double motorVal) {
  16     requires(Robot.getDriveTrain());
  17
  18     timer = new Timer();
  19     this.time = time;
  20     this.motorVal = motorVal;
  21   }
  22
  23   @Override
  24   protected void initialize() {
  25     timer.start();
  26     Robot.getDriveTrain().setMotorValues(motorVal, motorVal);
  27   }
  28
  29   @Override
  30   protected void execute() {
  31   }
  32
  33   @Override
  34   protected boolean isFinished() {
  35     return timer.get() >= time;
  36   }
  37
  38   @Override
  39   protected void end() {
  40     Robot.getDriveTrain().stop();
  41   }
  42
  43   @Override
  44   protected void interrupted() {
  45     end();
  46   }
  47 }