public class TimeDrive extends Command {
Timer timer;
- double currentTime, targetTime, speed;
+ double speed, time;
public TimeDrive() {
this(Auton.DEFAULT_TIME, Auton.DEFAULT_SPEED);
requires(Robot.driveTrain);
timer = new Timer();
- this.currentTime = 0;
- this.targetTime = time;
this.speed = speed;
}
@Override
protected void initialize() {
timer.start();
+ Robot.driveTrain.setMotorSpeeds(speed, speed);
}
@Override
protected void execute() {
- currentTime = timer.get();
- double output = speed * ((targetTime - currentTime) / (targetTime));
-
- Robot.driveTrain.setMotorSpeeds(output, output);
}
@Override
protected boolean isFinished() {
- return currentTime >= targetTime;
+ return time >= time;
}
@Override