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
  24     timer = new Timer();
  25     this.currentTime = 0;
  26     this.targetTime = time;
  27     this.speed = speed;
  28   }
  29
  30   @Override
  31   protected void initialize() {
  32     timer.start();
  33   }
  34
  35   @Override
  36   protected void execute() {
  37     currentTime = timer.get();
  38
  39     double output = speed * ((targetTime - currentTime) / (targetTime));
  40
  41     Robot.driveTrain.setMotorSpeeds(output, output);
  42   }
  43
  44   @Override
  45   protected boolean isFinished() {
  46     return currentTime >= targetTime;
  47   }
  48
  49   @Override
  50   protected void end() {
  51     Robot.driveTrain.stop();
  52   }
  53
  54   @Override
  55   protected void interrupted() {
  56     end();
  57   }
  58 }