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  * This commands make the robot drive for a specified time with the motors set
  10  * at a specified value between 1 and -1
  11  *
  12  * parameters:
  13  * time: how long the robot should drive for - in seconds
  14  * motorVal: the motor input to set the motors to
  15  */
  16 public class TimeDrive extends Command {
  17   Timer timer;
  18   double motorVal, time;
  19
  20   public TimeDrive(final double time, final double motorVal) {
  21     requires(Robot.getDriveTrain());
  22
  23     timer = new Timer();
  24     this.time = time;
  25     this.motorVal = motorVal;
  26   }
  27
  28   @Override
  29   protected void initialize() {
  30     timer.start();
  31     Robot.getDriveTrain().setMotorValues(motorVal, motorVal);
  32   }
  33
  34   @Override
  35   protected void execute() {
  36   }
  37
  38   @Override
  39   protected boolean isFinished() {
  40     return timer.get() >= time;
  41   }
  42
  43   @Override
  44   protected void end() {
  45     Robot.getDriveTrain().stop();
  46   }
  47
  48   @Override
  49   protected void interrupted() {
  50     end();
  51   }
  52 }