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

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