1 package org
.usfirst
.frc
.team3501
.robot
.commands
;
3 import org
.usfirst
.frc
.team3501
.robot
.Robot
;
5 import edu
.wpi
.first
.wpilibj
.Timer
;
6 import edu
.wpi
.first
.wpilibj
.command
.Command
;
11 public class DriveForTime
extends Command
{
13 private final static double DEFAULT_SPEED
= 0.5;
15 private double seconds
;
19 public DriveForTime(double seconds
, double speed
) {
20 this.seconds
= seconds
;
24 public DriveForTime(double seconds
) {
25 this(seconds
, DEFAULT_SPEED
);
29 protected void initialize() {
33 Robot
.driveTrain
.setMotorSpeeds(speed
, speed
);
37 protected void execute() {
41 protected boolean isFinished() {
42 if (timer
.get() >= seconds
)
48 protected void end() {
49 Robot
.driveTrain
.setMotorSpeeds(0, 0);
53 protected void interrupted() {