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1 | package org.usfirst.frc.team3501.robot.commands; |
2 | ||
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3 | import org.usfirst.frc.team3501.robot.Robot; |
4 | ||
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5 | import edu.wpi.first.wpilibj.command.Command; |
6 | ||
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7 | /*** |
8 | * This command will expel a boulder from the robot, if it is even present to | |
9 | * begin with. | |
10 | * | |
11 | * pre-condition: A boulder is present inside the robot. | |
12 | * | |
13 | * post-condition: A boulder is expelled from inside the robot to the field | |
14 | * outside of the robot. | |
15 | * | |
16 | * @author Lauren and Niyati | |
17 | * | |
18 | */ | |
19 | ||
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20 | public class ExpelBall extends Command { |
21 | ||
22 | public ExpelBall() { | |
df77579b | 23 | requires(Robot.intakeArm); |
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24 | } |
25 | ||
26 | @Override | |
27 | protected void initialize() { | |
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28 | if (Robot.photogate.isBallPresent()) |
29 | Robot.intakeArm.outputBall(); | |
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30 | } |
31 | ||
32 | @Override | |
33 | protected void execute() { | |
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34 | } |
35 | ||
36 | @Override | |
37 | protected boolean isFinished() { | |
f19a94ad | 38 | return !Robot.photogate.isBallPresent(); |
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39 | } |
40 | ||
41 | @Override | |
42 | protected void end() { | |
1828f5f6 | 43 | Robot.intakeArm.stopRollers(); |
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44 | } |
45 | ||
46 | @Override | |
47 | protected void interrupted() { | |
48 | ||
49 | } | |
50 | ||
51 | } |