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

   1 package org.usfirst.frc.team3501.robot.commands.driving;
   2
   3 import org.usfirst.frc.team3501.robot.Constants.Auton;
   4 import org.usfirst.frc.team3501.robot.Robot;
   5
   6 import edu.wpi.first.wpilibj.Timer;
   7 import edu.wpi.first.wpilibj.command.Command;
   8
   9 public class TimeDrive extends Command {
  10   Timer timer;
  11   double currentTime, targetTime, speed;
  12
  13   public TimeDrive() {
  14     this(Auton.DEFAULT_TIME, Auton.DEFAULT_SPEED);
  15   }
  16
  17   public TimeDrive(double time) {
  18     this(time, Auton.DEFAULT_SPEED);
  19   }
  20
  21   public TimeDrive(double time, double speed) {
  22     requires(Robot.driveTrain);
  23     this.setInterruptible(false);
  24
  25     this.setTimeout(time);
  26     this.speed = speed;
  27   }
  28
  29   @Override
  30   protected void initialize() {
  31   }
  32
  33   @Override
  34   protected void execute() {
  35     Robot.driveTrain.drive(speed, 0);
  36   }
  37
  38   @Override
  39   protected boolean isFinished() {
  40     return this.isTimedOut();
  41   }
  42
  43   @Override
  44   protected void end() {
  45     Robot.driveTrain.stop();
  46   }
  47
  48   @Override
  49   protected void interrupted() {
  50     end();
  51   }
  52 }