DriveDistance.java

// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.

package frc.robot.commands;

import edu.wpi.first.wpilibj2.command.CommandBase;
import frc.robot.subsystems.DriveTrain;

public class DriveDistance extends CommandBase {
  private DriveTrain driveTrain;
  private double distanceToTravel;
  /** Creates a new DriveStraight. */
  public DriveDistance(DriveTrain driveTrain, double distanceToTravel) {
    // Use addRequirements() here to declare subsystem dependencies.
    addRequirements(driveTrain);
    this.driveTrain = driveTrain;
    this.distanceToTravel = distanceToTravel;

    driveTrain.selectTurningPIDSlot();
    driveTrain.zeroSensors();
  }

  // Called every time the scheduler runs while the command is scheduled.
  @Override
  public void execute() {
    // driveTrain.arcadeDrive(speed, 0);
    driveTrain.driveStraightToPosition(distanceToTravel);
  }

  // Returns true when the command should end.
  @Override
  public boolean isFinished() {
    return this.driveTrain.getRightMotorsDistance() >= this.distanceToTravel;
  }
}