From 105b31a31bc1aae190a0dcad4cbd4955c722cb16 Mon Sep 17 00:00:00 2001
From: Cyberarm <matthewlikesrobots@gmail.com>
Date: Sun, 29 Jan 2023 17:50:44 -0600
Subject: [PATCH] Add Wait state

---
 .../chiron/states/autonomous/Wait.java        | 39 +++++++++++++++++++
 1 file changed, 39 insertions(+)
 create mode 100644 TeamCode/src/main/java/org/timecrafters/minibots/cyberarm/chiron/states/autonomous/Wait.java

diff --git a/TeamCode/src/main/java/org/timecrafters/minibots/cyberarm/chiron/states/autonomous/Wait.java b/TeamCode/src/main/java/org/timecrafters/minibots/cyberarm/chiron/states/autonomous/Wait.java
new file mode 100644
index 0000000..d1b2c35
--- /dev/null
+++ b/TeamCode/src/main/java/org/timecrafters/minibots/cyberarm/chiron/states/autonomous/Wait.java
@@ -0,0 +1,39 @@
+package org.timecrafters.minibots.cyberarm.chiron.states.autonomous;
+
+import org.cyberarm.engine.V2.CyberarmState;
+import org.timecrafters.minibots.cyberarm.chiron.Robot;
+
+public class Wait extends CyberarmState {
+    private final Robot robot;
+    private final String groupName, actionName;
+
+    private final double timeInMS;
+    private final boolean stateDisabled;
+
+    public Wait(Robot robot, String groupName, String actionName) {
+        this.robot = robot;
+        this.groupName = groupName;
+        this.actionName = actionName;
+
+        timeInMS = robot.getConfiguration().variable(groupName, actionName, "timeInMS").value();
+
+        stateDisabled = !robot.getConfiguration().action(groupName, actionName).enabled;
+    }
+
+    @Override
+    public void exec() {
+        if (stateDisabled) {
+            setHasFinished(true);
+
+            return;
+        }
+
+        if (runTime() >= timeInMS) {
+            stop();
+
+            setHasFinished(true);
+
+            return;
+        }
+    }
+}