DriveMotor

The DriveMotor class is the class used to create and send the inline auto command to AutoCommand. The DriveMotor class is also the command that will be called by the auto scheduler.

 1package frc.robot.commands.auto;
 2
 3// import the SimpleDrive command
 4import frc.robot.commands.driveCommands.SimpleDrive;
 5
 6/**
 7 * DriveMotor class
 8 * <p>
 9 * This class creates the inline auto command to drive the motor
10 */
11public class DriveMotor extends AutoCommand
12{
13    /**
14     * Constructor
15     */
16    public DriveMotor()
17    {
18        /**
19         * Calls the SimpleDrive command and adds a 5 second timeout
20         * When the timeout is complete it will call the end() method in the SimpleDrive command
21         */
22        super(new SimpleDrive().withTimeout(5));
23    }
24}

  • Line 4 is the only import required for this auto command.

  • Lines 16 - 23 is the constructor and auto command.

  • Line 22 is the inline auto command. In this case we are running an instance of SimpleDrive and giving it a 5 second timeout. For this example the timeout gives us the 5 second runtime we are looking for in running the motor at 50% for 5 seconds.

Note

A command can end before a timeout. Sometimes it’s a good idea to add timeouts in case a sensor gives bad data or there was a unhandled error.