Autonomous Robot Example demonstrating while(), Timers and Talons

autonomousExample.java

public class Robot
{
  /* There will be some code here to initialise the robot
   * but I can't remember what it is off the top of my head.
   * Eclipse will automatically generate it for us though. :)
   */

  public void autonomous()
  {
    Talon leftTalon = new Talon(2);
    Talon rightTalon = new Talon(3);
    Timer t = new Timer();

    // start the timer
    t.start();

    // drive forwards for 10 seconds
    while(!t.hasPerioPassed(10))
    {
      leftTalon.set(1);
      rightTalon.set(1);
    }

    // stop both talons
    leftTalon.set(0);
    rightTalon.set(0);

    t.stop();  // stop the timer
    t.reset(); // zero the timer

    t.start(); // restart the timer

    // drive backwards for 5 seconds
    while(!t.hasPerioPassed(5))
    {
      leftTalon.set(-1);
      rightTalon.set(-1);
    }

    // stop both talons
    leftTalon.set(0);
    rightTalon.set(0);
  }
}