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3e4790a8 LH |
1 | package org.usfirst.frc.team3501.robot.autons; |
2 | ||
3 | import org.usfirst.frc.team3501.robot.RobotMap; | |
4 | import org.usfirst.frc.team3501.robot.commands.CommandBase; | |
5 | ||
6 | public class DriveOverStep extends CommandBase { | |
7 | ||
8 | private double speed; | |
9 | ||
10 | public DriveOverStep() { | |
11 | super("DriveOverStep"); | |
12 | requires(drivetrain); | |
13 | ||
14 | setTimeout(RobotMap.OVER_STEP_TIME); | |
e81578e3 LH |
15 | speed = RobotMap.OVER_STEP_SPEED; |
16 | } | |
17 | ||
18 | // TODO: this is an ugly "solution" | |
19 | public DriveOverStep(int coef) { | |
20 | this(); | |
21 | this.speed *= coef; | |
3e4790a8 LH |
22 | } |
23 | ||
24 | protected void execute() { | |
25 | drivetrain.goForward(speed); | |
26 | } | |
27 | ||
28 | protected boolean isFinished() { | |
29 | return isTimedOut(); | |
30 | } | |
31 | ||
32 | protected void end() { | |
33 | drivetrain.stop(); | |
34 | } | |
35 | } |