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package org.usfirst.frc.team3695.robot.commands;
import org.usfirst.frc.team3695.robot.Robot;
import edu.wpi.first.wpilibj.DriverStation;
import edu.wpi.first.wpilibj.command.Command;
public class CyborgCommandDriveDirect extends Command {
public static final long TIME_WAIT = 1000;
public final double percent;
private long time;
private boolean inRange;
public CyborgCommandDriveDirect(double percent) {
this.percent = percent;
requires(Robot.SUB_DRIVE);
}
protected void initialize() {
DriverStation.reportWarning("DRIVING BY POWER", false);
Robot.SUB_DRIVE.reset();
time = System.currentTimeMillis() + TIME_WAIT;
protected void execute() {
inRange = Robot.SUB_DRIVE.driveDistance(percent, percent);
protected boolean isFinished() {
if(!inRange) {
return time < System.currentTimeMillis();
protected void end() {
Robot.SUB_DRIVE.driveDirect(0, 0);
protected void interrupted() {
end();