From 24e0d07f3a3b1755ea6586c60c8cf824b451abe6 Mon Sep 17 00:00:00 2001
From: Aarav Shah <91212@psdschools.org>
Date: Tue, 18 Feb 2020 19:28:05 -0700
Subject: [PATCH] Added opening every 10 seconds

---
 src/main/java/frc4388/robot/subsystems/Drive.java | 9 +++++++++
 1 file changed, 9 insertions(+)

diff --git a/src/main/java/frc4388/robot/subsystems/Drive.java b/src/main/java/frc4388/robot/subsystems/Drive.java
index 9fa438a..58c14fb 100644
--- a/src/main/java/frc4388/robot/subsystems/Drive.java
+++ b/src/main/java/frc4388/robot/subsystems/Drive.java
@@ -66,6 +66,8 @@ public class Drive extends SubsystemBase {
   public DoubleSolenoid m_speedShift;
   public DoubleSolenoid m_coolFalcon;
 
+  public int m_currentTimeSec = (int)(System.currentTimeMillis() * 1000);
+
   public long m_lastTime, m_deltaTime; //in milliseconds
 
   public double m_lastAngleYaw, m_currentAngleYaw, m_kinematicsTargetAngle;
@@ -269,6 +271,13 @@ public class Drive extends SubsystemBase {
 
   @Override
   public void periodic() {
+
+    if (m_currentTimeSec % 10 == 0) {
+      coolFalcon(true);
+    } else if ((m_currentTimeSec - 2) % 10 == 0) {
+      coolFalcon(false);
+    }
+
     m_deltaTime = System.currentTimeMillis() - m_lastTime;
     m_lastTime = System.currentTimeMillis();
     m_lastAngleYaw = m_currentAngleYaw;