add hella auton

[3501/3501-spark-go] / src / org / usfirst / frc / team3501 / robot / commands / DriveFor.java

diff --git a/src/org/usfirst/frc/team3501/robot/commands/DriveFor.java b/src/org/usfirst/frc/team3501/robot/commands/DriveFor.java
new file mode 100644 (file)
index 0000000..c1ca507
--- /dev/null
+++ b/src/org/usfirst/frc/team3501/robot/commands/DriveFor.java
@@ -0,0 +1,22 @@
+package org.usfirst.frc.team3501.robot.commands;
+
+public class DriveFor extends CommandBase {
+
+    private double speed;
+
+    public DriveFor(double secs, double speed) {
+        super("DriveFor");
+        requires(drivetrain);
+
+        setTimeout(secs);
+        this.speed = speed;
+    }
+
+    protected void execute() {
+        drivetrain.driveRaw(speed, 0);
+    }
+
+    protected boolean isFinished() {
+        return isTimedOut();
+    }
+}