fixed time logic

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),

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);
   }
 }

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));
     }
   }
 }