From 53924f8defc508461ad7a5e417fc631022c61885 Mon Sep 17 00:00:00 2001 From: Meryem Esa Date: Tue, 2 Feb 2016 20:27:10 -0800 Subject: [PATCH] fill in execute() and isFinished() --- .../robot/commands/driving/TurnForTime.java | 24 ++++++++++--------- 1 file changed, 13 insertions(+), 11 deletions(-) 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 aef24840..f2e2540c 100755 --- a/src/org/usfirst/frc/team3501/robot/commands/driving/TurnForTime.java +++ b/src/org/usfirst/frc/team3501/robot/commands/driving/TurnForTime.java @@ -1,14 +1,16 @@ package org.usfirst.frc.team3501.robot.commands.driving; import org.usfirst.frc.team3501.robot.Constants.Direction; +import org.usfirst.frc.team3501.robot.Robot; import edu.wpi.first.wpilibj.Timer; import edu.wpi.first.wpilibj.command.Command; public class TurnForTime extends Command { - Direction direction; - double seconds; - Timer timer; + private final double SPEED = 0.5; + private Direction direction; + private double seconds; + private Timer timer; public TurnForTime(double seconds, Direction direction) { this.seconds = seconds; @@ -23,18 +25,18 @@ public class TurnForTime extends Command { @Override protected void execute() { - /* - * if direction is right make the left motor run forward make the right - * motor run backward if direction is left make right motor run forward make - * the left motor run backward - */ + + if (direction == Direction.RIGHT) { + Robot.driveTrain.setMotorSpeeds(SPEED, -SPEED); + } else if (direction == Direction.LEFT) { + Robot.driveTrain.setMotorSpeeds(-SPEED, SPEED); + } } @Override protected boolean isFinished() { - /* - * when time is up return true - */ + if (timer.get() >= seconds) + return true; return false; } -- 2.30.2