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47 lines
1.6 KiB
Python
47 lines
1.6 KiB
Python
#
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# 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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#
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import commands2
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import wpilib
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from subsystems.drivetrain import Drivetrain
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class DriveTime(commands2.Command):
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"""Creates a new DriveTime. This command will drive your robot for a desired speed and time."""
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def __init__(self, speed: float, time: float, drive: Drivetrain) -> None:
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"""Creates a new DriveTime. This command will drive your robot for a desired speed and time.
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:param speed: The speed which the robot will drive. Negative is in reverse.
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:param time: How much time to drive in seconds
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:param drive: The drivetrain subsystem on which this command will run
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"""
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self.speed = speed
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self.duration = time
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self.drive = drive
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self.addRequirements(drive)
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self.startTime = 0.0
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def initialize(self) -> None:
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"""Called when the command is initially scheduled."""
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self.startTime = wpilib.Timer.getFPGATimestamp()
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self.drive.arcadeDrive(0, 0)
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def execute(self) -> None:
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"""Called every time the scheduler runs while the command is scheduled."""
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self.drive.arcadeDrive(self.speed, 0)
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def end(self, interrupted: bool) -> None:
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"""Called once the command ends or is interrupted."""
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self.drive.arcadeDrive(0, 0)
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def isFinished(self) -> bool:
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"""Returns true when the command should end"""
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return wpilib.Timer.getFPGATimestamp() - self.startTime >= self.duration
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