challenge-bot.com Git - 3501/stronghold-2016/blob - src/org/usfirst/frc/team3501/robot/commands/DriveForTime.java

   1 package org.usfirst.frc.team3501.robot.commands;
   2
   3 import org.usfirst.frc.team3501.robot.Robot;
   4
   5 import edu.wpi.first.wpilibj.Timer;
   6 import edu.wpi.first.wpilibj.command.Command;
   7
   8 /**
   9  * This command
  10  */
  11 public class DriveForTime extends Command {
  12
  13   private final static double DEFAULT_SPEED = 0.5;
  14   private double speed;
  15   private double seconds;
  16
  17   private Timer timer;
  18
  19   public DriveForTime(double seconds, double speed) {
  20     this.seconds = seconds;
  21     this.speed = speed;
  22   }
  23
  24   public DriveForTime(double seconds) {
  25     this(seconds, DEFAULT_SPEED);
  26   }
  27
  28   @Override
  29   protected void initialize() {
  30     timer = new Timer();
  31     timer.start();
  32
  33     Robot.driveTrain.setMotorSpeeds(speed, speed);
  34   }
  35
  36   @Override
  37   protected void execute() {
  38   }
  39
  40   @Override
  41   protected boolean isFinished() {
  42     if (timer.get() >= seconds)
  43       return true;
  44     return false;
  45   }
  46
  47   @Override
  48   protected void end() {
  49     Robot.driveTrain.setMotorSpeeds(0, 0);
  50   }
  51
  52   @Override
  53   protected void interrupted() {
  54   }
  55 }