From cc39cbb844303a6d002d0da623c113440d78583f Mon Sep 17 00:00:00 2001
From: Caleb Marston <caleb.marston@baxter-academy.org>
Date: Fri, 9 Mar 2018 15:01:30 -0500
Subject: [PATCH 1/3] add carriage motor test command

---
 .../robot/commands/TestCarriageMotor.java     | 37 +++++++++++++++++++
 1 file changed, 37 insertions(+)
 create mode 100644 src/main/java/org/frc5687/powerup/robot/commands/TestCarriageMotor.java

diff --git a/src/main/java/org/frc5687/powerup/robot/commands/TestCarriageMotor.java b/src/main/java/org/frc5687/powerup/robot/commands/TestCarriageMotor.java
new file mode 100644
index 00000000..6e82ec1d
--- /dev/null
+++ b/src/main/java/org/frc5687/powerup/robot/commands/TestCarriageMotor.java
@@ -0,0 +1,37 @@
+package org.frc5687.powerup.robot.commands;
+
+import edu.wpi.first.wpilibj.command.Command;
+import edu.wpi.first.wpilibj.command.CommandGroup;
+import org.frc5687.powerup.robot.subsystems.Carriage;
+
+
+public class TestCarriageMotor extends Command {
+    private Carriage carriage;
+    private long upMillis;
+    public long downMillis;
+    public TestCarriageMotor(Carriage carriage) {
+        requires(carriage);
+    }
+
+    @Override
+    protected void initialize() {
+        upMillis = System.currentTimeMillis() + 250;
+        downMillis = System.currentTimeMillis() + 500;
+    }
+
+    @Override
+    protected void execute() {
+        if(System.currentTimeMillis() < upMillis){
+            carriage.drive(1);
+        }
+        else {
+            carriage.drive(-1);
+        }
+    }
+
+    @Override
+    protected boolean isFinished() {
+        return System.currentTimeMillis()> downMillis;
+    }
+}
+

From 77149d185288b8dc52db7f5a639d3410ca6e71d3 Mon Sep 17 00:00:00 2001
From: Caleb Marston <caleb.marston@baxter-academy.org>
Date: Wed, 14 Mar 2018 12:51:00 -0400
Subject: [PATCH 2/3] add test carrriage command group

---
 .../org/frc5687/powerup/robot/commands/TestCarriage.java    | 6 ++++++
 1 file changed, 6 insertions(+)
 create mode 100644 src/main/java/org/frc5687/powerup/robot/commands/TestCarriage.java

diff --git a/src/main/java/org/frc5687/powerup/robot/commands/TestCarriage.java b/src/main/java/org/frc5687/powerup/robot/commands/TestCarriage.java
new file mode 100644
index 00000000..fdb77a0f
--- /dev/null
+++ b/src/main/java/org/frc5687/powerup/robot/commands/TestCarriage.java
@@ -0,0 +1,6 @@
+package org.frc5687.powerup.robot.commands;
+
+import edu.wpi.first.wpilibj.command.CommandGroup;
+
+public class TestCarriage extends CommandGroup {
+}

From 5f3046dc67bb1f2f5dbb776de8436ea09250336b Mon Sep 17 00:00:00 2001
From: Caleb Marston <caleb.marston@baxter-academy.org>
Date: Wed, 14 Mar 2018 13:28:28 -0400
Subject: [PATCH 3/3] add zero carriage to test

---
 .../org/frc5687/powerup/robot/commands/TestCarriage.java   | 7 +++++++
 1 file changed, 7 insertions(+)

diff --git a/src/main/java/org/frc5687/powerup/robot/commands/TestCarriage.java b/src/main/java/org/frc5687/powerup/robot/commands/TestCarriage.java
index fdb77a0f..6023d171 100644
--- a/src/main/java/org/frc5687/powerup/robot/commands/TestCarriage.java
+++ b/src/main/java/org/frc5687/powerup/robot/commands/TestCarriage.java
@@ -1,6 +1,13 @@
 package org.frc5687.powerup.robot.commands;
 
 import edu.wpi.first.wpilibj.command.CommandGroup;
+import org.frc5687.powerup.robot.Constants;
+import org.frc5687.powerup.robot.Robot;
+import org.frc5687.powerup.robot.commands.auto.AutoZeroCarriage;
 
 public class TestCarriage extends CommandGroup {
+    public TestCarriage(Robot robot){
+        addSequential(new TestCarriageMotor(robot.getCarriage()));
+        addSequential(new AutoZeroCarriage(robot.getCarriage()));
+    }
 }