allwpilib/wpilibcExamples/src/main/cpp/examples/XRPReference/include/commands/TurnTime.hpp

// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.

#pragma once

#include <wpi/commands2/Command.hpp>
#include <wpi/commands2/CommandHelper.hpp>
#include <wpi/system/Timer.hpp>
#include <wpi/units/time.hpp>

#include "subsystems/Drivetrain.hpp"

class TurnTime : public wpi::cmd::CommandHelper<wpi::cmd::Command, TurnTime> {
 public:
  /**
   * Creates a new TurnTime.
   *
   * @param speed The speed which the robot will turn. Negative is in reverse.
   * @param time How much time to turn
   * @param drive The drive subsystem on which this command will run
   */
  TurnTime(double speed, wpi::units::second_t time, Drivetrain* drive)
      : m_speed(speed), m_duration(time), m_drive(drive) {
    AddRequirements(m_drive);
  }

  void Initialize() override;
  void Execute() override;
  void End(bool interrupted) override;
  bool IsFinished() override;

 private:
  double m_speed;
  wpi::units::second_t m_duration;
  Drivetrain* m_drive;
  wpi::Timer m_timer;
};