CurveStraightDrive

Take a look at this code below. Then, do your best to answer these questions:

What is this command supposed to do?
What are some issues with this code? Be specific and clear!
If we don’t change anything and just run this code, what do you think will happen? Does this match our goal?
What should we change in order to accomplish the goal? You don’t need to implement it or make the changes. Just mention what you’d do.

package frc.team670.robot.commands.drive;

import com.pi4j.io.gpio.RaspiPin;

import edu.wpi.first.wpilibj.RobotState;
import edu.wpi.first.wpilibj.command.Command;
import edu.wpi.first.wpilibj2.command.Subsystem;
import frc.team670.pi.sensors.Encoder;
import frc.team670.robot.Robot;
import frc.team670.robot.subsystems.DriveBase;
import frc.team670.robot.utils.Logger;

public class CurveStraightDrive extends Command {

	private double speedL, speedR, dist, time;

	private Encoder lEncoder, rEncoder;
	
	private DriveBase  drivebase = Robot.driveBase;

	public CurveStraightDrive(double dist, double lspeed, double rspeed, double secs) {
		this.speedL = lspeed;
		this.speedR = rspeed;
		this.time = dist;
		this.dist = secs;
		lEncoder = new Encoder(RaspiPin.GPIO_07, RaspiPin.GPIO_01);
		rEncoder = new Encoder(RaspiPin.GPIO_22, RaspiPin.GPIO_21);
		requires(drivebase);
	}

	// Called just before this Command runs the first time
	@Override
	protected void initialize() {
		setTimeout(dist);
		Logger.consoleLog();
	}

	// Called repeatedly when this Command is scheduled to run
	@Override
	protected void execute() {
		drivebase.tankDrive(speedL, speedR);
	}

	// Called once after isFinished returns true
	@Override
	protected void end() {
		stop();
		Logger.consoleLog("LeftSpeed: %s Right Speed: %s DistanceT: %s", speedL, speedR, getDistance());
	}

	// Called when another command which requires one or more of the same
	// subsystems is scheduled to run
	@Override
	protected void interrupted() {
		end();
	}

	// Make this return true when this Command no longer needs to run execute()
	@Override
	protected boolean isFinished() {
		if(isTimedOut()) {
			end();
			return isTimedOut();
		}
		else {
			return false;
		}
		// return (this.error <= 1);
	}

	public double getDistance() {
		double distance = Robot.driveBase.getLeftEncoder().getDistance();
		return Math.abs(distance);
	}

	public void tankDrive() {
		while (RobotState.isEnabled()) {
			Robot.driveBase.tankDrive(speedL, speedL);
		}
	}

	public void stop() {
		speedL = 0;
	}

}