Minor fixes after merging

[3501/stronghold-2016] / src / org / usfirst / frc / team3501 / robot / commands / driving / TimeDrive.java

package org.usfirst.frc.team3501.robot.commands.driving;

import org.usfirst.frc.team3501.robot.Constants.Auton;
import org.usfirst.frc.team3501.robot.Robot;

import edu.wpi.first.wpilibj.Timer;
import edu.wpi.first.wpilibj.command.Command;

public class TimeDrive extends Command {
  Timer timer;
  double speed, time;

  public TimeDrive() {
    this(Auton.DEFAULT_TIME, Auton.DEFAULT_SPEED);
  }

  public TimeDrive(double time) {
    this(time, Auton.DEFAULT_SPEED);
  }

  public TimeDrive(double time, double speed) {
    requires(Robot.driveTrain);

    timer = new Timer();
    this.speed = speed;
  }

  @Override
  protected void initialize() {
    timer.start();
    Robot.driveTrain.setMotorSpeeds(speed, speed);
  }

  @Override
  protected void execute() {

  }

  @Override
  protected boolean isFinished() {
    return timer.get() >= time;
  }

  @Override
  protected void end() {
    Robot.driveTrain.stop();
  }

  @Override
  protected void interrupted() {
    end();
  }
}