From 0781814f47ce59c8614cc7edc2385736d3c40bb6 Mon Sep 17 00:00:00 2001
From: Meryem Esa <meresa14@gmail.com>
Date: Tue, 9 Feb 2016 21:57:38 -0800
Subject: [PATCH] create and implement code for DriveForTime command

---
 .../team3501/robot/commands/DriveForTime.java | 55 +++++++++++++++++++
 1 file changed, 55 insertions(+)
 create mode 100755 src/org/usfirst/frc/team3501/robot/commands/DriveForTime.java

diff --git a/src/org/usfirst/frc/team3501/robot/commands/DriveForTime.java b/src/org/usfirst/frc/team3501/robot/commands/DriveForTime.java
new file mode 100755
index 00000000..c44590af
--- /dev/null
+++ b/src/org/usfirst/frc/team3501/robot/commands/DriveForTime.java
@@ -0,0 +1,55 @@
+package org.usfirst.frc.team3501.robot.commands;
+
+import org.usfirst.frc.team3501.robot.Robot;
+
+import edu.wpi.first.wpilibj.Timer;
+import edu.wpi.first.wpilibj.command.Command;
+
+/**
+ * This command
+ */
+public class DriveForTime extends Command {
+
+  private final static double DEFAULT_SPEED = 0.5;
+  private double speed;
+  private double seconds;
+
+  private Timer timer;
+
+  public DriveForTime(double seconds, double speed) {
+    this.seconds = seconds;
+    this.speed = speed;
+  }
+
+  public DriveForTime(double seconds) {
+    this(seconds, DEFAULT_SPEED);
+  }
+
+  @Override
+  protected void initialize() {
+    timer = new Timer();
+    timer.start();
+
+    Robot.driveTrain.setMotorSpeeds(speed, speed);
+  }
+
+  @Override
+  protected void execute() {
+  }
+
+  @Override
+  protected boolean isFinished() {
+    if (timer.get() >= seconds)
+      return true;
+    return false;
+  }
+
+  @Override
+  protected void end() {
+    Robot.driveTrain.setMotorSpeeds(0, 0);
+  }
+
+  @Override
+  protected void interrupted() {
+  }
+}
-- 
2.30.2