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

   1 package org.usfirst.frc.team3501.robot.commands.driving;
   2
   3 import org.usfirst.frc.team3501.robot.Constants.Direction;
   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 /***
  10  * This command turns the robot in a specified direction for a specified
  11  * duration.
  12  *
  13  * pre-condition: robot is on a flat surface
  14  *
  15  * post-condition: robot has turned in the specified direction for the specified
  16  * time
  17  *
  18  * @author Meryem, Avi, and Sarvesh
  19  *
  20  */
  21
  22 public class TurnForTime extends Command {
  23   private final double SPEED = 0.5;
  24   private Direction direction;
  25   private double seconds;
  26   private Timer timer;
  27
  28   public TurnForTime(double seconds, Direction direction) {
  29     this.seconds = seconds;
  30     this.direction = direction;
  31   }
  32
  33   @Override
  34   protected void initialize() {
  35     timer = new Timer();
  36     timer.start();
  37   }
  38
  39   @Override
  40   protected void execute() {
  41     if (direction == Direction.RIGHT) {
  42       Robot.driveTrain.setMotorSpeeds(SPEED, -SPEED);
  43     } else if (direction == Direction.LEFT) {
  44       Robot.driveTrain.setMotorSpeeds(-SPEED, SPEED);
  45     }
  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   }
  58
  59   @Override
  60   protected void interrupted() {
  61   }
  62 }