@Override
protected void execute() {
double speedModifier = .5;
int timeToRun = 5000;
long firstTime;
long secondTime;
firstTime = System.currentTimeMillis();
secondTime = System.currentTimeMillis() + timeToRun;
while (System.currentTimeMillis() < secondTime) {
tankSubsystem.setLeftSpeed(speedModifier);
tankSubsystem.setRightSpeed(speedModifier);
}
tankSubsystem.setLeftSpeed(0);
tankSubsystem.setRightSpeed(0);
}
@Override
protected void end() {
tankSubsystem.stop();
}