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.DeadReckoning;
   4 import org.usfirst.frc.team3501.robot.Constants.Direction;
   5 import org.usfirst.frc.team3501.robot.Robot;
   6
   7 import edu.wpi.first.wpilibj.Timer;
   8 import edu.wpi.first.wpilibj.command.Command;
   9
  10 /***
  11  * This command turns the robot in a specified direction for a specified
  12  * duration in seconds.
  13  *
  14  * pre-condition: robot is on a flat surface
  15  *
  16  * post-condition: robot has turned in the specified direction for the specified
  17  * time
  18  *
  19  * @author Meryem, Avi, and Sarvesh
  20  *
  21  */
  22
  23 public class TurnForTime extends Command {
  24   private Direction direction;
  25   private double seconds;
  26   private Timer timer;
  27   private double speed;
  28
  29   public TurnForTime(double seconds, Direction direction, double speed) {
  30     this.seconds = seconds;
  31     this.direction = direction;
  32     this.speed = speed;
  33   }
  34
  35   public TurnForTime(double seconds, Direction direction) {
  36     this(seconds, direction, DeadReckoning.DEFAULT_SPEED);
  37   }
  38
  39   @Override
  40   protected void initialize() {
  41     timer = new Timer();
  42     timer.start();
  43
  44     if (direction == Direction.RIGHT) {
  45       Robot.driveTrain.setMotorSpeeds(speed, -speed);
  46     } else if (direction == Direction.LEFT) {
  47       Robot.driveTrain.setMotorSpeeds(-speed, speed);
  48     }
  49   }
  50
  51   @Override
  52   protected void execute() {
  53
  54   }
  55
  56   @Override
  57   protected boolean isFinished() {
  58     if (timer.get() >= seconds)
  59       return true;
  60     return false;
  61   }
  62
  63   @Override
  64   protected void end() {
  65     Robot.driveTrain.setMotorSpeeds(0, 0);
  66   }
  67
  68   @Override
  69   protected void interrupted() {
  70   }
  71 }