50 lines
1.2 KiB
Java
50 lines
1.2 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.command;
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import edu.wpi.first.wpilibj2.command.Command;
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import frc.robot.subsystem.Drive;
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import frc.robot.subsystem.Limelight;
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public class Limelight_tracker extends Command {
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/** Creates a new Limelight_tracker. */
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private Limelight tracker;
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private Drive drive;
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public Limelight_tracker(Limelight tracker, Drive drive) {
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this.drive = drive;
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this.tracker = tracker;
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addRequirements(tracker,drive);
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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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// 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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if (tracker.getv()){
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drive.drive(0,0, tracker.getx());
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}
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else{
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drive.drive(0, 0, 0);
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}
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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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drive.drive(0, 0, 0);
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}
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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 false;
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}
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}
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