Add drive commands to Forward.java

src/main/java/frc/robot/RobotMap.java

@@ -26,4 +26,6 @@ public class RobotMap {
 
   public static final int joy1 = 0,
                           joy2 = 1;
+
+  public static final int GYRO_PORT = 0;
 }

src/main/java/frc/robot/commands/Forward.java

@@ -2,36 +2,38 @@
 
 import edu.wpi.first.wpilibj.command.Command;
 import frc.robot.Robot;
+import frc.robot.RobotMap;
+import edu.wpi.first.wpilibj.AnalogGyro;
 import edu.wpi.first.wpilibj.Timer;
-
+import com.analog.adis16448.frc.ADIS16448_IMU;  
 /**
  * Move Forward to Cargo Ship
  */
 public class Forward extends Command{
     private final Timer timer = new Timer();
+    private  final ADIS16448_IMU imu = new ADIS16448_IMU();
+    private AnalogGyro m_gyro = new AnalogGyro(RobotMap.GYRO_PORT);
+
     @Override
     protected void initialize() {
         Robot.drivetrain.drive(0, 0); // Don't move on init
     }
 
     // Called repeatedly when this Command is scheduled to run
     @Override
-    protected void execute() {
-        if(timer.get() < 2.0){     
-            Robot.drivetrain.drive(0.5, 0.5);
-        }
-
+    protected void execute() {    
+        Robot.drivetrain.drive(0.5, 0.5);
     }
-
     // Make this return true when this Command no longer needs to run execute()
     @Override
     protected boolean isFinished() {
-        return false;
+        return timer.get() > 2.0;
     }
 
     // Called once after isFinished returns true
     @Override
     protected void end() {
+        Robot.drivetrain.stop();
     }
 
     // Called when another command which requires one or more of the same

vendordeps/ADIS16448.json

@@ -1,7 +1,7 @@
 {
     "fileName": "ADIS16448.json",
     "name": "ADIS16448-IMU",
-    "version": "2019-r1",
+    "version": "2019-r3",
     "uuid": "38c21ab6-aa8b-44bc-b844-8086c77f09ec",
     "mavenUrls": [
         "http://maven.highcurrent.io/maven"
@@ -11,15 +11,15 @@
         {
             "groupId": "com.github.juchong",
             "artifactId": "adis16448-java",
-            "version": "2019-r1"
+            "version": "2019-r3"
         }
     ],
     "jniDependencies": [],
     "cppDependencies": [
         {
             "groupId": "com.github.juchong",
             "artifactId": "adis16448-cpp",
-            "version": "2019-r1",
+            "version": "2019-r3",
             "libName": "libadis16448imu",
             "headerClassifier": "headers",
             "sharedLibrary": false,