@Override
public void onStop(SimState ss, RobotState properties, Match m) {
properties.decrement("discs");
super.onStop(ss, properties, m);
}
@Override
public boolean canPerform(RobotState properties, Match m) {
// We can't do this action if there's not time enough left in match
// Or, I guess, if the robot doesn't have discs...
return this.secondsRemaining <= m.getSecondsRemaining() && properties.get("discs") > 0;
}