org.usfirst.frc.team3695.robot.commands.CyborgCommandDriveUntilError.isFinished() - Code Metrics - wh1ter0se/PowerUp-2018 - Measure and Improve Code Quality continuously with Scrutinizer

isFinished() A
last analyzed 2018-03-21 15:27 UTC

↳ Parent: org.usfirst.frc.team3695.robot.commands.CyborgCommandDriveUntilError

Complexity

Conditions

Size

Total Lines

Duplication

Lines	0
Ratio	0 %

Importance

Changes	1
Bugs	0	Features	0

Metric	Value
cc	2
dl	0
loc	5
rs	10
c	1
b	0
f	0

package org.usfirst.frc.team3695.robot.commands;

import edu.wpi.first.wpilibj.DriverStation;
import edu.wpi.first.wpilibj.command.Command;
import org.usfirst.frc.team3695.robot.Robot;
import org.usfirst.frc.team3695.robot.util.Util;

public class CyborgCommandDriveUntilError extends Command {
    public static final long ERROR_TIME = 500;
    public static final int TARGET_ERROR = 500;

    private long time = 0;


    public CyborgCommandDriveUntilError() {
        requires(Robot.SUB_DRIVE);
    }

    protected void initialize() {
        time = System.currentTimeMillis() + ERROR_TIME;
    }

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

        Robot.SUB_DRIVE.driveDirect(speed, speed);
    }

    protected boolean isFinished() {
        if(Math.abs(Robot.SUB_DRIVE.pid.getError()) < TARGET_ERROR) {
            time = System.currentTimeMillis() + ERROR_TIME;
        }
        return time < System.currentTimeMillis();
    }

    protected void end() {
        DriverStation.reportWarning("CyborgCommandDriveUntilError finished", false);
        Robot.SUB_DRIVE.driveDirect(0, 0);
    }

    protected void interrupted() {
        end();
    }
}

1			package org.usfirst.frc.team3695.robot.commands;
2
3			import edu.wpi.first.wpilibj.DriverStation;
4			import edu.wpi.first.wpilibj.command.Command;
5			import org.usfirst.frc.team3695.robot.Robot;
6			import org.usfirst.frc.team3695.robot.util.Util;
7
8			public class CyborgCommandDriveUntilError extends Command {
9			public static final long ERROR_TIME = 500;
10			public static final int TARGET_ERROR = 500;
11
12			private long time = 0;
			0 ignored issues – show Best Practice introduced 2018-02-23 00:10 UTC by Report Bug Copy Issue Report Exceptions generally should be immutable since they convey immutable data. Consider making the field `time` final. Loading history...
13
14			public CyborgCommandDriveUntilError() {
15			requires(Robot.SUB_DRIVE);
16			}
17
18			protected void initialize() {
19			time = System.currentTimeMillis() + ERROR_TIME;
20			}
21
22			protected void execute() {
23			double speed = Util.getAndSetDouble("SPEED ERROR: Forward", -0.25);
			0 ignored issues – show Comprehensibility introduced 2018-02-23 00:10 UTC by Report Bug Copy Issue Report 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. Loading history...
24			Robot.SUB_DRIVE.driveDirect(speed, speed);
25			}
26
27			protected boolean isFinished() {
28			if(Math.abs(Robot.SUB_DRIVE.pid.getError()) < TARGET_ERROR) {
29			time = System.currentTimeMillis() + ERROR_TIME;
30			}
31			return time < System.currentTimeMillis();
32			}
33
34			protected void end() {
35			DriverStation.reportWarning("CyborgCommandDriveUntilError finished", false);
36			Robot.SUB_DRIVE.driveDirect(0, 0);
37			}
38
39			protected void interrupted() {
40			end();
41			}
42			}

wh1ter0se / PowerUp-2018

isFinished() A last analyzed 2018-03-21 15:27 UTC

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isFinished() A
last analyzed 2018-03-21 15:27 UTC