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

/** An example command that uses an example subsystem. */
public class rightTurn extends CommandBase {
  @SuppressWarnings({"PMD.UnusedPrivateField", "PMD.SingularField"})
  private final RomiDrivetrain m_db;
  private final double dist;
  /**
   * Creates a new ExampleCommand.
   *
   * @param subsystem The subsystem used by this command.
   */
  public rightTurn(RomiDrivetrain db, double inch) {
    m_db = db;
    dist= inch;
    // Use addRequirements() here to declare subsystem dependencies.
    addRequirements(db);
  }

  // Called when the command is initially scheduled.
  @Override
  public void initialize() {
m_db.arcadeDrive(0,0);
m_db.resetEncoders();
  }

  // Called every time the scheduler runs while the command is scheduled.
  @Override
  public void execute() {
    m_db.arcadeDrive(0,90);
  }

  // Called once the command ends or is interrupted.
  @Override
  public void end(boolean interrupted) {
    m_db.arcadeDrive(0,0);

  }

  // Returns true when the command should end.
  @Override
  public boolean isFinished() {
    return m_db.getRightDistanceInch()>dist;
  }
}