package us.mn.k12.fairmont.robotics.commands;

public class DriveToDistance extends CommandBase {

    /**
     * Require the drive train and store the desired setpoint.
     *
     * @param setpoint The desired setpoint for the drive train.
     */
    public DriveToDistance() {
        requires(drivetrain);
    }

    // Called just before this Command runs the first time
    /**
     * Set the setpoint to the stored value and enable PID on the drivetrain.
     */
    protected void initialize() {
//       drivetrain.autoTimeDrive(10, true);
        System.out.println(this);
    }

    // Called repeatedly when this Command is scheduled to run
    protected void execute() {
    }

    // Make this return true when this Command no longer needs to run execute()
    /**
     * @return true when it's close enough to the setpoint
     */
    protected boolean isFinished() {
        return false;
    }

    // Called once after isFinished returns true
    /**
     * When this command ends, disable the drivetrain's PID
     */
    protected void end() {
    }

    // Called when another command which requires one or more of the same
    // subsystems is scheduled to run
    /**
     * When this command exits, disable the drivetrain's PID
     */
    protected void interrupted() {

    }
}