Change turning to using arcade drive turning to be smoother

[3501/stronghold-2016] / src / org / usfirst / frc / team3501 / robot / commands / driving / TurnForTime.java

diff --git a/src/org/usfirst/frc/team3501/robot/commands/driving/TurnForTime.java b/src/org/usfirst/frc/team3501/robot/commands/driving/TurnForTime.java
index 7a27e7bc5d8cf28504f9d4447c7a843295d26a66..f0f2ecf6fca6c79e39d7879010832abcbd1506a3 100755 (executable)
--- a/src/org/usfirst/frc/team3501/robot/commands/driving/TurnForTime.java
+++ b/src/org/usfirst/frc/team3501/robot/commands/driving/TurnForTime.java
@@ -1,5 +1,6 @@
 package org.usfirst.frc.team3501.robot.commands.driving;
 
+import org.usfirst.frc.team3501.robot.Constants;
 import org.usfirst.frc.team3501.robot.Constants.Direction;
 import org.usfirst.frc.team3501.robot.Robot;
 
@@ -15,19 +16,27 @@ import edu.wpi.first.wpilibj.command.Command;
  * post-condition: robot has turned in the specified direction for the specified
  * time
  *
+ * TODO: test for speed/ time constants for specific angles (ex. 30 degrees, 60
+ * degrees, 90 degrees)
+ *
  * @author Meryem, Avi, and Sarvesh
  *
  */
 
 public class TurnForTime extends Command {
-  private final double SPEED = 0.5;
   private Direction direction;
   private double seconds;
   private Timer timer;
+  private double speed;
 
-  public TurnForTime(double seconds, Direction direction) {
+  public TurnForTime(double seconds, Direction direction, double speed) {
     this.seconds = seconds;
     this.direction = direction;
+    this.speed = speed;
+  }
+
+  public TurnForTime(double seconds, Direction direction) {
+    this(seconds, direction, Constants.Auton.DEFAULT_SPEED);
   }
 
   @Override
@@ -36,9 +45,11 @@ public class TurnForTime extends Command {
     timer.start();
 
     if (direction == Direction.RIGHT) {
-      Robot.driveTrain.setMotorSpeeds(SPEED, -SPEED);
+      // Robot.driveTrain.drive(speed, -speed);
+      Robot.driveTrain.arcadeDrive(0, speed);
     } else if (direction == Direction.LEFT) {
-      Robot.driveTrain.setMotorSpeeds(-SPEED, SPEED);
+      // Robot.driveTrain.drive(-speed, speed);
+      Robot.driveTrain.arcadeDrive(0, speed);
     }
   }
 
@@ -49,16 +60,16 @@ public class TurnForTime extends Command {
 
   @Override
   protected boolean isFinished() {
-    if (timer.get() >= seconds)
-      return true;
-    return false;
+    return (timer.get() >= seconds);
   }
 
   @Override
   protected void end() {
+    Robot.driveTrain.drive(0, 0);
   }
 
   @Override
   protected void interrupted() {
+    end();
   }
 }