| 1 | package org.usfirst.frc.team3501.robot.commands;\r |
| 2 | \r |
| 3 | import org.usfirst.frc.team3501.robot.Robot;\r |
| 4 | \r |
| 5 | import edu.wpi.first.wpilibj.Timer;\r |
| 6 | import edu.wpi.first.wpilibj.command.Command;\r |
| 7 | \r |
| 8 | /**\r |
| 9 | * This command drives the robot for the specified time and specified speed. (If\r |
| 10 | * a speed is not specified, a default speed is used\r |
| 11 | *\r |
| 12 | *\r |
| 13 | * dependency on subsystems: drivetrain\r |
| 14 | *\r |
| 15 | * pre-condition: robot is on\r |
| 16 | *\r |
| 17 | * post condition: robot has driven for the specified amount of time\r |
| 18 | */\r |
| 19 | public class DriveForTime extends Command {\r |
| 20 | \r |
| 21 | private final static double DEFAULT_SPEED = 0.5;\r |
| 22 | private double speed;\r |
| 23 | private double seconds;\r |
| 24 | \r |
| 25 | private Timer timer;\r |
| 26 | \r |
| 27 | public DriveForTime(double seconds, double speed) {\r |
| 28 | this.seconds = seconds;\r |
| 29 | this.speed = speed;\r |
| 30 | }\r |
| 31 | \r |
| 32 | public DriveForTime(double seconds) {\r |
| 33 | this(seconds, DEFAULT_SPEED);\r |
| 34 | }\r |
| 35 | \r |
| 36 | @Override\r |
| 37 | protected void initialize() {\r |
| 38 | timer = new Timer();\r |
| 39 | timer.start();\r |
| 40 | \r |
| 41 | Robot.driveTrain.setMotorSpeeds(speed, speed);\r |
| 42 | }\r |
| 43 | \r |
| 44 | @Override\r |
| 45 | protected void execute() {\r |
| 46 | }\r |
| 47 | \r |
| 48 | @Override\r |
| 49 | protected boolean isFinished() {\r |
| 50 | if (timer.get() >= seconds)\r |
| 51 | return true;\r |
| 52 | return false;\r |
| 53 | }\r |
| 54 | \r |
| 55 | @Override\r |
| 56 | protected void end() {\r |
| 57 | Robot.driveTrain.setMotorSpeeds(0, 0);\r |
| 58 | }\r |
| 59 | \r |
| 60 | @Override\r |
| 61 | protected void interrupted() {\r |
| 62 | }\r |
| 63 | }\r |