Merge branch 'feature/run-timed'

Author: jhh

src/main/kotlin/org/strykeforce/thirdcoast/talon/RunTalonsCommand.kt

@@ -1,15 +1,19 @@
 package org.strykeforce.thirdcoast.talon
 
-import com.ctre.phoenix.motorcontrol.ControlMode.*
+import com.ctre.phoenix.motorcontrol.ControlMode.MotionMagic
+import com.ctre.phoenix.motorcontrol.ControlMode.Position
+import edu.wpi.first.wpilibj.Timer
+import mu.KotlinLogging
 import net.consensys.cava.toml.TomlTable
 import org.jline.reader.EndOfFileException
 import org.koin.standalone.inject
-import org.strykeforce.thirdcoast.*
 import org.strykeforce.thirdcoast.command.AbstractCommand
 import org.strykeforce.thirdcoast.command.Command
 import org.strykeforce.thirdcoast.command.prompt
-import org.strykeforce.thirdcoast.command.toMenu
 import org.strykeforce.thirdcoast.device.TalonService
+import org.strykeforce.thirdcoast.warn
+
+private val logger = KotlinLogging.logger {}
 
 class RunTalonsCommand(
     parent: Command?,
@@ -24,16 +28,30 @@ class RunTalonsCommand(
 
         while (!done) {
             try {
-                val line = reader.readLine(prompt()).trim()
+                val line = reader.readLine(prompt())
                 if (line.isEmpty()) throw EndOfFileException()
-                val setpoint = line.toDouble()
+                val setpoints = line.split(',')
+                val setpoint = setpoints[0].toDouble()
+                val duration = if (setpoints.size > 1) setpoints[1].toDouble() else 0.0
+
                 talonService.active.forEach { it.set(talonService.controlMode, setpoint) }
+
+                if (duration > 0.0 && (talonService.controlMode == MotionMagic || talonService.controlMode == Position)) {
+                    terminal.warn("specifying a duration in closed-loop position mode not allowed")
+                    done = true
+                }
+
+                if (duration > 0.0) {
+                    logger.debug { "run duration = $duration seconds" }
+                    Timer.delay(duration)
+                    logger.debug { "run duration expired, setting output = 0.0" }
+                    talonService.active.forEach { it.set(talonService.controlMode, 0.0) }
+                }
             } catch (e: Exception) {
                 done = true
             }
         }
 
         return super.execute()
     }
-
 }