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9bd9656871
I left "free speed" alone since that's the technical term for it. In general, velocity is a vector quantity, and speed is a magnitude (i.e., a strictly positive value). This PR also replaces the speed verbiage in MotorController with duty cycle. Fixes #8423.
25 lines
567 B
C++
25 lines
567 B
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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#include "commands/TurnTime.hpp"
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void TurnTime::Initialize() {
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m_timer.Start();
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m_drive->ArcadeDrive(0, 0);
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}
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void TurnTime::Execute() {
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m_drive->ArcadeDrive(0, m_velocity);
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}
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void TurnTime::End(bool interrupted) {
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m_drive->ArcadeDrive(0, 0);
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m_timer.Stop();
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m_timer.Reset();
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}
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bool TurnTime::IsFinished() {
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return m_timer.HasElapsed(m_duration);
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}
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