53 lines
1.5 KiB
Java
53 lines
1.5 KiB
Java
// 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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package frc.robot.commands;
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import edu.wpi.first.wpilibj.shuffleboard.BuiltInLayouts;
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import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
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import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardLayout;
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import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab;
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import edu.wpi.first.wpilibj2.command.CommandBase;
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import frc.robot.subsystems.Drive;
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public class Avancer extends CommandBase {
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private Drive drive;
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ShuffleboardTab dashboard = Shuffleboard.getTab("Dashboard");
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ShuffleboardLayout avancer = Shuffleboard.getTab("Dashboard")
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.getLayout("Avancer", BuiltInLayouts.kList)
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.withSize(3, 3);
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/** Creates a new Avancer. */
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public Avancer(Drive drive) {
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avancer.add("x", 1);
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avancer.add("y", 2);
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avancer.add("z", 3);
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this.drive = drive;
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addRequirements(drive);
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// Use addRequirements() here to declare subsystem dependencies.
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}
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// Called when the command is initially scheduled.
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@Override
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public void initialize() {
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}
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// Called every time the scheduler runs while the command is scheduled.
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@Override
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public void execute() {
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drive.drive(0.5, 0.2, 0);
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}
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// Called once the command ends or is interrupted.
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@Override
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public void end(boolean interrupted) {}
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// Returns true when the command should end.
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@Override
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public boolean isFinished() {
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return drive.distance()[0].distanceMeters>1;
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}
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}
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