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  *
  17  */
  18 public class TimeDrive extends Command {
  19   Timer timer;
  20   double motorVal, time;
  21
  22   public TimeDrive(final double time, final double motorVal) {
  23     requires(Robot.getDriveTrain());
  24
  25     timer = new Timer();
  26     this.time = time;
  27     this.motorVal = motorVal;
  28   }
  29
  30   @Override
  31   protected void initialize() {
  32     timer.start();
  33   }
  34
  35   @Override
  36   protected void execute() {
  37     Robot.getDriveTrain().setMotorValues(motorVal, motorVal);
  38
  39   }
  40
  41   @Override
  42   protected boolean isFinished() {
  43     return timer.get() >= time;
  44   }
  45
  46   @Override
  47   protected void end() {
  48     Robot.getDriveTrain().stop();
  49   }
  50
  51   @Override
  52   protected void interrupted() {
  53     end();
  54   }
  55 }