did a lot

src/main/java/frc4388/robot/commands/auto/TankDriveVelocity.java

@@ -0,0 +1,67 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved.                             */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
+package frc4388.robot.commands.auto;
+
+import edu.wpi.first.wpilibj2.command.CommandBase;
+import frc4388.robot.subsystems.Drive;
+
+public class TankDriveVelocity extends CommandBase {
+  Drive m_drive;
+  double m_leftTargetVel;
+  double m_rightTargetVel;
+
+  double m_targetTime;
+  double m_firstTimeSec;
+  double m_currentTimeSec;
+  double m_diffSec;
+
+  /**
+   * Creates a new TankDriveVelocity.
+   */
+  public TankDriveVelocity(Drive subsystem, double leftTargetVel, double rightTargetVel, double targetTime) {
+    // Use addRequirements() here to declare subsystem dependencies.
+    m_drive = subsystem;
+    m_leftTargetVel = leftTargetVel;
+    m_rightTargetVel = rightTargetVel;
+    m_targetTime = targetTime;
+    addRequirements(subsystem);
+  }
+
+  // Called when the command is initially scheduled.
+  @Override
+  public void initialize() {
+    m_firstTimeSec = (System.currentTimeMillis() / 1000);
+    m_diffSec = 0;
+  }
+
+  // Called every time the scheduler runs while the command is scheduled.
+  @Override
+  public void execute() {
+    m_currentTimeSec = (System.currentTimeMillis() / 1000);
+    m_diffSec = m_currentTimeSec - m_firstTimeSec;
+    
+    if (m_diffSec < m_targetTime) {
+      m_drive.tankDriveVelocity(m_leftTargetVel, m_rightTargetVel);
+    }
+
+  }
+
+  // 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() {
+    if (m_diffSec >= m_targetTime) {
+      return true;
+    }
+    return false;
+  }
+}