<commit_before>package org.usfirst.frc.team1760.robot.autonomous;

import org.usfirst.frc.team1760.robot.TitanRobot;

/**
 * This class handles Autonomous mode 7 operations.
 * Autonomous Mode 7 will drive forward 6 ft into auto zone.
 * 
 * @author Robo-Titans Team 1760 Taylor High School 2015
 */
public class AutonomousMode7 extends AutonomousMode {

	public AutonomousMode7(TitanRobot pRobot) {
		super(pRobot);
	}

	@Override
	public void periodic() {
		// Nothing to do in Dead Mode
	}

}<commit_msg>Added logic for Autonomous mode 7<commit_after>package org.usfirst.frc.team1760.robot.autonomous;

import org.usfirst.frc.team1760.robot.TitanRobot;
import org.usfirst.frc.team1760.robot.components.TimeLimit;

import edu.wpi.first.wpilibj.RobotDrive;

/**
 * This class handles Autonomous mode 7 operations.
 * Autonomous Mode 7 will drive forward 6 feet into auto zone.
 * 
 * @author Robo-Titans Team 1760 Taylor High School 2015
 */
public class AutonomousMode7 extends AutonomousMode {
	public static final long DRIVE_TIME = 3000; // 3 Seconds
	public static final double DRIVE_SPEED = 0.75;
	private RobotDrive robotDrive;
	private TimeLimit driveTime;

	public AutonomousMode7(TitanRobot pRobot) {
		super(pRobot);
		robotDrive = robot.getMotorStore().getRobotDrive(true);
		driveTime = new TimeLimit(DRIVE_TIME);
	}

	@Override
	public void periodic() {
		if (driveTime.isTimeLimitReached()) {
			robotDrive.drive(0.0, 0.0);
		}
		else {
			robotDrive.drive(DRIVE_SPEED, 0.0);
		}
	}

}
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