challenge-bot.com Git - 3501/3501-spark-go/blob - src/org/usfirst/frc/team3501/robot/autons/DriveOverStep.java

   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);
  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;
  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 }