wh1ter0se / PowerUp-2018

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

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

public class CyborgCommandSpit extends Command {

    long runTime;

    long startTime;

    public CyborgCommandSpit(long runTime) {

    	isFinished = false;

        requires(Robot.SUB_MANIPULATOR);

        this.runTime = runTime;

    }

    protected void initialize() {

    	startTime = System.currentTimeMillis();

    }

    protected void execute() {

        if (startTime + runTime >= System.currentTimeMillis()){

            Robot.SUB_MANIPULATOR.spit();

        } else {

        	isFinished = true;

        }

    }

    protected void end() {

    	Robot.SUB_MANIPULATOR.stopSpinning();

    	isFinished = false;

    }

    protected void interrupted() {

        end();

    }

}