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https://github.com/wpilibsuite/allwpilib
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39 lines
1.1 KiB
C++
39 lines
1.1 KiB
C++
// Copyright (c) FIRST and other WPILib contributors.
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// Open Source Software; you can modify and/or share it under the terms of
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// the WPILib BSD license file in the root directory of this project.
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#pragma once
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#include <wpi/commands2/Command.hpp>
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#include <wpi/commands2/CommandHelper.hpp>
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#include <wpi/system/Timer.hpp>
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#include <wpi/units/time.hpp>
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#include "subsystems/Drivetrain.hpp"
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class TurnTime : public wpi::cmd::CommandHelper<wpi::cmd::Command, TurnTime> {
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public:
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/**
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* Creates a new TurnTime.
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*
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* @param speed The speed which the robot will turn. Negative is in reverse.
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* @param time How much time to turn
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* @param drive The drive subsystem on which this command will run
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*/
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TurnTime(double speed, wpi::units::second_t time, Drivetrain* drive)
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: m_speed(speed), m_duration(time), m_drive(drive) {
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AddRequirements(m_drive);
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}
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void Initialize() override;
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void Execute() override;
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void End(bool interrupted) override;
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bool IsFinished() override;
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private:
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double m_speed;
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wpi::units::second_t m_duration;
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Drivetrain* m_drive;
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wpi::Timer m_timer;
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};
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