1 package org
.usfirst
.frc
.team3501
.robot
.commands
.driving
;
3 import org
.usfirst
.frc
.team3501
.robot
.Constants
.Direction
;
4 import org
.usfirst
.frc
.team3501
.robot
.Robot
;
6 import edu
.wpi
.first
.wpilibj
.Timer
;
7 import edu
.wpi
.first
.wpilibj
.command
.Command
;
9 public class TurnForTime
extends Command
{
10 private final double SPEED
= 0.5;
11 private Direction direction
;
12 private double seconds
;
15 public TurnForTime(double seconds
, Direction direction
) {
16 this.seconds
= seconds
;
17 this.direction
= direction
;
21 protected void initialize() {
27 protected void execute() {
29 if (direction
== Direction
.RIGHT
) {
30 Robot
.driveTrain
.setMotorSpeeds(SPEED
, -SPEED
);
31 } else if (direction
== Direction
.LEFT
) {
32 Robot
.driveTrain
.setMotorSpeeds(-SPEED
, SPEED
);
37 protected boolean isFinished() {
38 if (timer
.get() >= seconds
)
44 protected void end() {
48 protected void interrupted() {