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1 | package org.usfirst.frc.team3501.robot.commands.climber; |
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 | ||
7 | /** | |
de8c65d3 | 8 | * This command will run the winch motor continuously until the button |
411129cd | 9 | * triggering it is released. This command also runs the drive train. |
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10 | * |
11 | * pre-condition: This command must be run by a button in OI. The robot must be | |
12 | * attached to the rope. | |
13 | * | |
14 | * post-condition: Winch motor set to a specified speed. | |
15 | * | |
16 | * @param motorVal | |
17 | * value range is from -1 to 1 | |
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18 | * |
19 | * @author shivanighanta | |
20 | * | |
21 | */ | |
22 | public class RunWinchContinuous extends Command { | |
23 | private double motorVal; | |
24 | ||
ad877a7e | 25 | /** |
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26 | * See JavaDoc comment in class for details |
27 | * | |
ad877a7e | 28 | * @param motorVal |
411129cd | 29 | * value range is from -1 to 1 |
ad877a7e | 30 | */ |
9738295a | 31 | public RunWinchContinuous(double motorVal) { |
411129cd | 32 | requires(Robot.getDriveTrain()); |
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33 | this.motorVal = motorVal; |
34 | } | |
35 | ||
36 | @Override | |
37 | protected void initialize() { | |
411129cd | 38 | Robot.getDriveTrain().setMotorValues(motorVal, motorVal); |
cf086549 | 39 | |
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40 | } |
41 | ||
42 | @Override | |
43 | protected void execute() { | |
44 | ||
45 | } | |
46 | ||
47 | @Override | |
48 | protected boolean isFinished() { | |
411129cd | 49 | return false; |
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50 | } |
51 | ||
52 | @Override | |
53 | protected void end() { | |
411129cd | 54 | |
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55 | } |
56 | ||
57 | @Override | |
58 | protected void interrupted() { | |
a04ce2ff | 59 | end(); |
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60 | } |
61 | } |