From 337d58e775beec2bb54074d52e6750c79d84e6f5 Mon Sep 17 00:00:00 2001
From: Kevin Zhang <icestormf1@gmail.com>
Date: Sun, 14 Feb 2016 16:04:39 -0800
Subject: [PATCH] turnforangle got lost so readded

---
 .../robot/commands/driving/TurnForAngle.java  | 70 ++++++++++++++-----
 1 file changed, 52 insertions(+), 18 deletions(-)

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 7c3fba79..f9e5e890 100755
--- 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();
+  }
 }
-- 
2.30.2