Merge pull request #39 from 2491-NoMythic/timer-for-autos

Timer for autos :D

src/main/java/frc/robot/RobotContainer.java

@@ -59,6 +59,7 @@
 import edu.wpi.first.wpilibj2.command.InstantCommand;
 import edu.wpi.first.wpilibj2.command.ParallelCommandGroup;
 import edu.wpi.first.wpilibj2.command.RunCommand;
+import edu.wpi.first.wpilibj2.command.WaitCommand;
 import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
 import edu.wpi.first.wpilibj2.command.button.Trigger;
 import edu.wpi.first.wpilibj.Preferences;
@@ -91,6 +92,7 @@ public class RobotContainer {
   private final boolean climberExists = Preferences.getBoolean("Climber", true);
   private final boolean lightsExist = Preferences.getBoolean("Lights", true);
   private final boolean indexerExists = Preferences.getBoolean("Indexer", true);
+  private final boolean autosExist = Preferences.getBoolean("Autos", true);
   private final boolean useDetectorLimelight = Preferences.getBoolean("Detector Limelight", true);
 
   private DrivetrainSubsystem driveTrain;
@@ -113,13 +115,14 @@ public class RobotContainer {
 
   /** The container for the robot. Contains subsystems, OI devices, and commands. */
   public RobotContainer() {
-//preferences are initialized IF they don't already exist on the Rio
+    //preferences are initialized IF they don't already exist on the Rio
     Preferences.initBoolean("Intake", false);
     Preferences.initBoolean("Climber", false);
     Preferences.initBoolean("Shooter", false);
     Preferences.initBoolean("Lights", false);
     Preferences.initBoolean("Indexer", false);
     Preferences.initBoolean("Detector Limelight", false);
+    Preferences.initDouble("wait # of seconds", 0);
 
     driverController = new PS4Controller(DRIVE_CONTROLLER_ID);
     operatorController = new PS4Controller(OPERATOR_CONTROLLER_ID);
@@ -302,6 +305,7 @@ private void registerNamedCommands() {
     if(intakeExists) {
       NamedCommands.registerCommand("intakeOn", new InstantCommand(()-> intake.intakeYes(1)));
     }
+    NamedCommands.registerCommand("wait x seconds", new WaitCommand(Preferences.getDouble("wait # of seconds", 0)));
   }
 
   public void teleopPeriodic() {

src/main/java/frc/robot/commands/WaitCommand.java

@@ -0,0 +1,44 @@
+// 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 java.util.function.DoubleSupplier;
+
+import edu.wpi.first.wpilibj.Timer;
+import edu.wpi.first.wpilibj2.command.Command;
+
+public class WaitCommand extends Command {
+  /** Creates a new WaitCommand. */
+  DoubleSupplier m_waitTime;
+  Timer m_timer;
+
+
+  public WaitCommand(DoubleSupplier waitTime) {
+    // Use addRequirements() here to declare subsystem dependencies.
+    m_waitTime = waitTime;
+  }
+
+  // Called when the command is initially scheduled.
+  @Override
+  public void initialize() {
+      m_timer.start();
+  }
+
+  // Called every time the scheduler runs while the command is scheduled.
+  @Override
+  public void execute() {}
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {
+    m_timer.stop();
+  }
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return m_timer.get() >= m_waitTime.getAsDouble();
+  }
+}