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076ed7770c
This is the C++ version of #1682. The old command framework is still available, but will be deprecated. Due to name conflicts, the new framework is in the frc2 namespace. Eventually (after the old command framework is removed in a future year) it will be moved into the main frc namespace.
38 lines
1.2 KiB
C++
38 lines
1.2 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) 2019 FIRST. All Rights Reserved. */
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/* Open Source Software - may be modified and shared by FRC teams. The code */
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/* must be accompanied by the FIRST BSD license file in the root directory of */
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/* the project. */
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/*----------------------------------------------------------------------------*/
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#pragma once
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#include <frc2/command/CommandBase.h>
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#include <frc2/command/CommandHelper.h>
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#include "subsystems/DriveSubsystem.h"
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class DriveDistance
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: public frc2::CommandHelper<frc2::CommandBase, DriveDistance> {
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public:
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/**
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* Creates a new DriveDistance.
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*
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* @param inches The number of inches the robot will drive
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* @param speed The speed at which the robot will drive
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* @param drive The drive subsystem on which this command will run
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*/
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DriveDistance(double inches, double speed, DriveSubsystem* subsystem);
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void Initialize() 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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DriveSubsystem* m_drive;
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double m_distance;
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double m_speed;
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};
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