#ifndef DriveForward_H
#define DriveForward_H

#include "WPILib.h"

/**
 * This command drives the robot over a given distance with simple proportional
 * control This command will drive a given distance limiting to a maximum speed.
 */
class DriveForward: public Command {
private:
	double driveForwardSpeed;
	double distance;
	double error;
	static const double TOLERANCE = .1;
	static const double KP = -1.0 / 5.0;
	void init(double dist, double maxSpeed);
public:
	DriveForward();
	DriveForward(double dist);
	DriveForward(double dist, double maxSpeed);
	void Initialize();
	void Execute();
	bool IsFinished();
	void End();
	void Interrupted();
};

#endif
