From 8af4535191f5eabbb6c632e110299546986399b9 Mon Sep 17 00:00:00 2001 From: aarav18 Date: Tue, 22 Mar 2022 00:33:05 -0600 Subject: [PATCH] fixed time logic --- src/main/java/frc4388/robot/RobotContainer.java | 2 ++ .../robot/commands/DriveCommands/DriveWithInputForTime.java | 2 +- src/main/java/frc4388/robot/commands/RunCommandForTime.java | 4 ++-- .../java/frc4388/robot/commands/StorageCommands/Drum.java | 0 4 files changed, 5 insertions(+), 3 deletions(-) delete mode 100644 src/main/java/frc4388/robot/commands/StorageCommands/Drum.java diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java index a008486..9bd41dc 100644 --- a/src/main/java/frc4388/robot/RobotContainer.java +++ b/src/main/java/frc4388/robot/RobotContainer.java @@ -460,6 +460,8 @@ public class RobotContainer { new RunCommand(() -> m_robotStorage.runStorage(StorageConstants.STORAGE_SPEED), m_robotStorage) )); + // TODO: we should test TrackTarget timing with my RunCommandForTime thing at some point, same with DriveWithInput timing + // * aim with RotateUntilTarget // return new SequentialCommandGroup( new InstantCommand(() -> m_robotSwerveDrive.resetGyro(), m_robotSwerveDrive), // new DriveWithInputForTime(m_robotSwerveDrive, new double[] {0.5, 0.5, 0.0, 0.0}, 1.0), diff --git a/src/main/java/frc4388/robot/commands/DriveCommands/DriveWithInputForTime.java b/src/main/java/frc4388/robot/commands/DriveCommands/DriveWithInputForTime.java index 351109e..6f436b9 100644 --- a/src/main/java/frc4388/robot/commands/DriveCommands/DriveWithInputForTime.java +++ b/src/main/java/frc4388/robot/commands/DriveCommands/DriveWithInputForTime.java @@ -54,6 +54,6 @@ public class DriveWithInputForTime extends CommandBase { // Returns true when the command should end. @Override public boolean isFinished() { - return (((long) duration) >= (start - elapsed)); + return (elapsed >= duration); } } diff --git a/src/main/java/frc4388/robot/commands/RunCommandForTime.java b/src/main/java/frc4388/robot/commands/RunCommandForTime.java index 25b24ff..5e35682 100644 --- a/src/main/java/frc4388/robot/commands/RunCommandForTime.java +++ b/src/main/java/frc4388/robot/commands/RunCommandForTime.java @@ -70,9 +70,9 @@ public class RunCommandForTime extends CommandBase { @Override public boolean isFinished() { if (this.override) { - return (((long) this.duration) >= (this.elapsed - this.start)); + return (this.elapsed >= this.duration); } else { - return (this.command.isFinished() && (((long) this.duration) >= (this.elapsed - this.start))); + return (this.command.isFinished() && (this.elapsed >= this.duration)); } } } diff --git a/src/main/java/frc4388/robot/commands/StorageCommands/Drum.java b/src/main/java/frc4388/robot/commands/StorageCommands/Drum.java deleted file mode 100644 index e69de29..0000000