49 lines
1.4 KiB
Java
49 lines
1.4 KiB
Java
// Copyright (c) FIRST and other WPILib contributors.
|
|
// Open Source Software; you can modify and/or share it under the terms of
|
|
// the WPILib BSD license file in the root directory of this project.
|
|
|
|
package frc.robot.commands;
|
|
|
|
|
|
import java.util.function.DoubleSupplier;
|
|
|
|
import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
|
|
import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardLayout;
|
|
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
|
|
import edu.wpi.first.wpilibj2.command.CommandBase;
|
|
import frc.robot.subsystems.BasePilotable;
|
|
|
|
public class Avancer extends CommandBase {
|
|
BasePilotable basePilotable;
|
|
DoubleSupplier distance;
|
|
/** Creates a new Reculer. */
|
|
public Avancer(BasePilotable basePilotable, DoubleSupplier distance) {
|
|
this.basePilotable = basePilotable;
|
|
this.distance = distance;
|
|
// Use addRequirements() here to declare subsystem dependencies.
|
|
addRequirements(basePilotable);
|
|
}
|
|
|
|
// Called when the command is initially scheduled.
|
|
@Override
|
|
public void initialize() {
|
|
basePilotable.Reset();
|
|
}
|
|
|
|
// Called every time the scheduler runs while the command is scheduled.
|
|
@Override
|
|
public void execute() {
|
|
basePilotable.drive(0.3,0);
|
|
}
|
|
|
|
// Called once the command ends or is interrupted.
|
|
@Override
|
|
public void end(boolean interrupted) {}
|
|
|
|
// Returns true when the command should end.
|
|
@Override
|
|
public boolean isFinished() {
|
|
return basePilotable.distance()>distance.getAsDouble();
|
|
}
|
|
}
|