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org.usfirst.frc.team3695.robot.commands.CyborgCommandDriveUntilError   A
last analyzed

↳ Parent: Project

Complexity

Total Complexity 7

Size/Duplication

Total Lines 33
Duplicated Lines 0 %

Importance

Changes 3
Bugs 0 Features 0
Metric Value
dl 0
loc 33
rs 10
c 3
b 0
f 0
wmc 7

6 Methods

Rating   Name   Duplication   Size   Complexity  
A CyborgCommandDriveUntilError() 0 2 1
A interrupted() 0 2 1
A initialize() 0 2 1
A isFinished() 0 5 2
A end() 0 3 1
A execute() 0 3 1
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package org.usfirst.frc.team3695.robot.commands;
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import edu.wpi.first.wpilibj.DriverStation;


            


            
                                                                                                            
                            
            
                                    
            
            

                
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import edu.wpi.first.wpilibj.command.Command;


            


            
                                                                                                            
                            
            
                                    
            
            

                
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import org.usfirst.frc.team3695.robot.Robot;


            


            
                                                                                                            
                            
            
                                    
            
            

                
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import org.usfirst.frc.team3695.robot.util.Util;


            


            
                                                                                                            
                                                                
            
                                    
            
            

                
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public class CyborgCommandDriveUntilError extends Command {


            


            
                                                        
            
                                    
            
            

                
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    public static final long ERROR_TIME = 500;


            


            
                                                        
            
                                    
            
            

                
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    public static final int TARGET_ERROR = 500;


            


            
                                                        
            
                                    
            
            

                
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    private long time = 0;


            


                            

                    
                        
                    
                    
                    
                    
                                                                                                    
                        

                            
                            
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            Best Practice
    
    
    
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Exceptions generally should be immutable since they convey immutable data. Consider making the field time final.
                                                                                                

                    
                                                    

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    public CyborgCommandDriveUntilError() {


            


            
                                                        
            
                                    
            
            

                
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        requires(Robot.SUB_DRIVE);


            


            
                                                        
            
                                    
            
            

                
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    }


            


            
                                                        
            
                                    
            
            

                
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    protected void initialize() {


            


            
                                                        
            
                                    
            
            

                
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        time = System.currentTimeMillis() + ERROR_TIME;


            


            
                                                        
            
                                    
            
            

                
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    }


            


            
                                                        
            
                                    
            
            

                
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    protected void execute() {


            


            
                                                        
            
                                    
            
            

                
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        double speed = Util.getAndSetDouble("SPEED ERROR: Forward", -0.25);


            


                            

                    
                        
                    
                    
                    
                    
                                                                                                    
                        

                            
                            
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            Comprehensibility
    
    
    
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Consider assigning this magic number 0.25 to a constant.
                                                                                                

                    
                                            

                            

                            

                                
                                    
                                
                            


                            
Using constants for hard-coded numbers is a best practice. A constant’s name can explain the rationale
behind this magic number. It is also easier to find if you ever need to change it.


                        

                                                    

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        Robot.SUB_DRIVE.driveDirect(speed, speed);


            


            
                                                        
            
                                    
            
            

                
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    }


            


            
                                                        
            
                                    
            
            

                
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    protected boolean isFinished() {


            


            
                                                        
            
                                    
            
            

                
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        if(Math.abs(Robot.SUB_DRIVE.pid.getError()) < TARGET_ERROR) {


            


            
                                                        
            
                                    
            
            

                
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            time = System.currentTimeMillis() + ERROR_TIME;


            


            
                                                        
            
                                    
            
            

                
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        }


            


            
                                                        
            
                                    
            
            

                
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        return time < System.currentTimeMillis();


            


            
                                                        
            
                                    
            
            

                
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    }


            


            
                                                        
            
                                    
            
            

                
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    protected void end() {


            


            
                                                        
            
                                    
            
            

                
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        DriverStation.reportWarning("CyborgCommandDriveUntilError finished", false);


            


            
                                                        
            
                                    
            
            

                
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        Robot.SUB_DRIVE.driveDirect(0, 0);


            


            
                                                        
            
                                    
            
            

                
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    }


            


            
                                                        
            
                                    
            
            

                
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    protected void interrupted() {


            


            
                                                        
            
                                    
            
            

                
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        end();


            


            
                                                        
            
                                    
            
            

                
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    }


            


            
                                                        
            
                                    
            
            

                
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}