Package org.mort11.auton

Class DriveDistance

java.lang.Object

edu.wpi.first.wpilibj.SendableBase

edu.wpi.first.wpilibj.command.Command

org.mort11.auton.DriveDistance

public final class DriveDistance
extends edu.wpi.first.wpilibj.command.Command

This auton command drives the robot for a specified distance.

Version:

06/08/2018

Author:

Seven Kurt, Joshua Ciffer

Field Summary

Fields

Modifier and Type	Field	Description
private double	distanceTraveled	The distance the robot has traveled so far.
private double	targetDistance	The distance intended for the robot to drive.

Constructor Summary

Constructors

Constructor	Description
DriveDistance(double targetDistance)	Constructs a new DriveDistance command.

Method Summary

Modifier and Type	Method	Description
protected void	end()	Robot is halted upon completion of this command.
protected void	execute()	Robot is driven until the distance traveled is reached.
protected void	initialize()	Initializes drivetrain talon sensors.
protected boolean	isFinished()	Command is finished if the distance traveled is with in plus or minus 10 units of the target distance.

Methods inherited from class edu.wpi.first.wpilibj.command.Command

cancel, clearRequirements, doesRequire, getGroup, initSendable, interrupted, isCanceled, isCompleted, isInterruptible, isRunning, isTimedOut, requires, setInterruptible, setRunWhenDisabled, setTimeout, start, timeSinceInitialized, toString, willRunWhenDisabled

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, wait, wait, wait

Methods inherited from interface edu.wpi.first.wpilibj.Sendable

getName, getSubsystem, setName, setName, setSubsystem

Methods inherited from class edu.wpi.first.wpilibj.SendableBase

addChild, free, getName, getSubsystem, setName, setName, setName, setSubsystem

Field Detail

targetDistance

private double targetDistance

The distance intended for the robot to drive.

distanceTraveled

private double distanceTraveled

The distance the robot has traveled so far.

Constructor Detail

DriveDistance

public DriveDistance(double targetDistance)

Constructs a new DriveDistance command.

Parameters:

targetDistance - The distance intended for the robot to drive.

Method Detail

initialize

protected void initialize()

Initializes drivetrain talon sensors. TODO: Can someone add further documentation or explanation for what the code for this method does?

Overrides:

initialize in class edu.wpi.first.wpilibj.command.Command

execute

protected void execute()

Robot is driven until the distance traveled is reached.

Overrides:

execute in class edu.wpi.first.wpilibj.command.Command

isFinished

protected boolean isFinished()

Command is finished if the distance traveled is with in plus or minus 10 units of the target distance.

Specified by:

isFinished in class edu.wpi.first.wpilibj.command.Command

end

protected void end()

Robot is halted upon completion of this command.

Overrides:

end in class edu.wpi.first.wpilibj.command.Command