whoops forgot this file :)

Author: dfang314

Robot2018/src/org/usfirst/frc/team199/Robot2018/commands/SetDistancePerPulse.java

@@ -0,0 +1,46 @@
+package org.usfirst.frc.team199.Robot2018.commands;
+
+import org.usfirst.frc.team199.Robot2018.Robot;
+
+import edu.wpi.first.wpilibj.Timer;
+import edu.wpi.first.wpilibj.command.Command;
+
+/**
+ *
+ */
+public class SetDistancePerPulse extends Command {
+
+	Timer tim;
+    public SetDistancePerPulse() {
+        // Use requires() here to declare subsystem dependencies
+        // eg. requires(chassis);
+    }
+
+    // Called just before this Command runs the first time
+    protected void initialize() {
+    	tim = new Timer();
+    	tim.reset();
+    	tim.start();
+    }
+
+    // Called repeatedly when this Command is scheduled to run
+    protected void execute() {
+    	Robot.dt.setDistancePerPulseLeft(Robot.getConst("Distance Per Pulse Left", 0.184));
+    	Robot.dt.setDistancePerPulseRight(Robot.getConst("Distance Per Pulse Right", 0.184));
+    }
+
+    // Make this return true when this Command no longer needs to run execute()
+    protected boolean isFinished() {
+        return tim.get() > Robot.getConst("Update Constants Time", 0.1);
+    }
+
+    // Called once after isFinished returns true
+    protected void end() {
+    }
+
+    // Called when another command which requires one or more of the same
+    // subsystems is scheduled to run
+    protected void interrupted() {
+    	end();
+    }
+}