[notmattlythgoe]

Originally Posted by krieck

The Command class already has a built-in timeout function. You just set it up in the initialize() method and then stop your command in isFinished:

package org.usfirst.frcxyz.commands;

import edu.wpi.first.wpilibj.command.Command;

public class DriveTimeCommand extends Command {
    
    double timeToDriveInSeconds = 2.5;
    
    public DriveTimeCommand() {
        requires(Robot.chassis);
    }

    protected void initialize() {
        setTimeout(timeToDriveInSeconds);
    }

    protected void execute() {
        Robot.chassis.arcadeDrive(1.0, 0.0);
    }

    protected boolean isFinished() {
        return isTimedOut();
    }

    protected void end() {
        Robot.chassis.arcadeDrive(0.0, 0.0);
    }

    protected void interrupted() {
        end();
    }
    
}

We just discovered the timeout ability for commands this year and I keep forgetting that you can do it. We're using it to timeout our hot goal processing in case we don't find a target we don't end up sitting for the entire autonomous period.