001    /*----------------------------------------------------------------------------*/
002    /* Copyright (c) FIRST 2008-2012. All Rights Reserved.                        */
003    /* Open Source Software - may be modified and shared by FRC teams. The code   */
004    /* must be accompanied by the FIRST BSD license file in the root directory of */
005    /* the project.                                                               */
006    /*----------------------------------------------------------------------------*/
007    
008    package edu.wpi.first.wpilibj.command;
009    
010    import edu.wpi.first.wpilibj.DriverStation;
011    
012    /**
013     * WaitUntilCommand - waits until an absolute game time.
014     * This will wait until the game clock reaches some value, then continue to the next command.
015     * @author brad
016     *
017     */
018    public class WaitUntilCommand extends Command {
019    
020        private double m_time;
021    
022        public WaitUntilCommand(double time) {
023            super("WaitUntil(" + time + ")");
024            m_time = time;
025        }
026    
027        public void initialize() {
028        }
029    
030        public void execute() {
031        }
032    
033        /**
034         * Check if we've reached the actual finish time.
035         */
036        public boolean isFinished() {
037            return DriverStation.getInstance().getMatchTime() >= m_time;
038        }
039    
040        public void end() {
041        }
042    
043        public void interrupted() {
044        }
045    }