turnforangle got lost so readded

diff --git a/src/org/usfirst/frc/team3501/robot/commands/driving/TurnForAngle.java b/src/org/usfirst/frc/team3501/robot/commands/driving/TurnForAngle.java
index 7c3fba793a1dbcafc5c6c2c5c6e0a11fcdd5a9aa..f9e5e890be195df4a417cbb05e89580aadca3ead 100755 (executable)
--- a/src/org/usfirst/frc/team3501/robot/commands/driving/TurnForAngle.java
+++ b/src/org/usfirst/frc/team3501/robot/commands/driving/TurnForAngle.java
@@ -1,30 +1,64 @@
 package org.usfirst.frc.team3501.robot.commands.driving;
 
+import org.usfirst.frc.team3501.robot.Constants;
+import org.usfirst.frc.team3501.robot.Robot;
+
 import edu.wpi.first.wpilibj.command.Command;
 
+/***
+ * This command will move the robot at the specified speed for the specified
+ * distance.
+ *
+ * post-condition: has driven for the distance and speed specified
+ *
+ * @author Meryem and Avi
+ *
+ */
 public class TurnForAngle extends Command {
+  private double maxTimeOut;
+  double angle;
+  int count = 0;
+
+  public TurnForAngle(double angle, double maxTimeOut) {
+    requires(Robot.driveTrain);
+    this.maxTimeOut = maxTimeOut;
+    this.angle = angle;
+  }
 
-       public TurnForAngle(double degrees) {
-       }
+  @Override
+  protected void initialize() {
+    Robot.driveTrain.resetGyro();
+    System.out.println(Robot.driveTrain.getMode());
+  }
 
-       @Override
-       protected void initialize() {
-       }
+  @Override
+  protected void execute() {
+    Robot.driveTrain.turnAngle(angle);
+    Robot.driveTrain.printGyroOutput();
+    Robot.driveTrain.printOutput();
+    count++;
 
-       @Override
-       protected void execute() {
-       }
+  }
 
-       @Override
-       protected boolean isFinished() {
-               return false;
-       }
+  @Override
+  protected boolean isFinished() {
+    if (timeSinceInitialized() >= maxTimeOut
+        || Robot.driveTrain
+        .reachedTarget() || Robot.driveTrain.getError() < 8) {
+      System.out.println("time: " + timeSinceInitialized());
+      Constants.DriveTrain.time = timeSinceInitialized();
+      return true;
+    }
+    return false;
+  }
 
-       @Override
-       protected void end() {
-       }
+  @Override
+  protected void end() {
+    Robot.driveTrain.disable();
+  }
 
-       @Override
-       protected void interrupted() {
-       }
+  @Override
+  protected void interrupted() {
+    end();
+  }
 }