azaleasource/WPILibCProgramming/trunk/WPILib/Commands/WaitUntilCommand.cpp

/*----------------------------------------------------------------------------*/
/* Copyright (c) FIRST 2011. All Rights Reserved.							  */
/* Open Source Software - may be modified and shared by FRC teams. The code   */
/* must be accompanied by the FIRST BSD license file in $(WIND_BASE)/WPILib.  */
/*----------------------------------------------------------------------------*/

#include "Commands/WaitUntilCommand.h"
#include "DriverStation.h"
#include "Timer.h"

/**
 * A {@link WaitCommand} will wait until a certain match time before finishing.
 * This will wait until the game clock reaches some value, then continue to the
 * next command.
 * @see CommandGroup
 */
WaitUntilCommand::WaitUntilCommand(double time) :
	Command("WaitUntilCommand", time)
{
    m_time = time;
}

WaitUntilCommand::WaitUntilCommand(const char *name, double time) :
	Command(name, time)
{
    m_time = time;
}

void WaitUntilCommand::Initialize()
{
}

void WaitUntilCommand::Execute()
{
}

/**
 * Check if we've reached the actual finish time.
 */
bool WaitUntilCommand::IsFinished()
{
    return DriverStation::GetInstance()->GetMatchTime() >= m_time;
}

void WaitUntilCommand::End()
{
}

void WaitUntilCommand::Interrupted()
{
}