mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-20 00:51:42 +00:00
28 lines
1.0 KiB
C++
28 lines
1.0 KiB
C++
|
/*----------------------------------------------------------------------------*/
|
||
|
|
/* Copyright (c) 2019 FIRST. All Rights Reserved. */
|
||
|
|
/* Open Source Software - may be modified and shared by FRC teams. The code */
|
||
|
|
/* must be accompanied by the FIRST BSD license file in the root directory of */
|
||
|
|
/* the project. */
|
||
|
|
/*----------------------------------------------------------------------------*/
|
||
|
|
|
||
|
|
#include "frc2/command/WaitCommand.h"
|
||
|
|
|
||
|
|
using namespace frc2;
|
||
|
|
|
||
|
|
WaitCommand::WaitCommand(double seconds) : m_duration{seconds} {
|
||
|
|
auto secondsStr = std::to_string(seconds);
|
||
|
|
SetName(wpi::Twine(m_name) + ": " + wpi::Twine(secondsStr) + " seconds");
|
||
|
|
m_timer = std::make_unique<frc::Timer>();
|
||
|
|
}
|
||
|
|
|
||
|
|
void WaitCommand::Initialize() {
|
||
|
|
m_timer->Reset();
|
||
|
|
m_timer->Start();
|
||
|
|
}
|
||
|
|
|
||
|
|
void WaitCommand::End(bool interrupted) { m_timer->Stop(); }
|
||
|
|
|
||
|
|
bool WaitCommand::IsFinished() { return m_timer->HasPeriodPassed(m_duration); }
|
||
|
|
|
||
|
|
bool WaitCommand::RunsWhenDisabled() const { return true; }
|