challenge-bot.com Git - 3501/3501-spark-go/blob - src/org/usfirst/frc/team3501/robot/autons/DrivePastStep.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 DrivePastStep extends CommandBase {
   7
   8     private double speed;
   9
  10     public DrivePastStep() {
  11         super("DrivePastStep");
  12         requires(drivetrain);
  13
  14         setTimeout(RobotMap.PAST_STEP_TIME);
  15         this.speed = RobotMap.PAST_STEP_SPEED;
  16     }
  17
  18     protected void execute() {
  19         drivetrain.goForward(speed);
  20     }
  21
  22     protected boolean isFinished() {
  23         return isTimedOut();
  24     }
  25
  26     protected void end() {
  27         drivetrain.stop();
  28     }
  29 }