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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 |
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9 | * triggering it is released. This command also makes the drive train motors run |
10 | * because the winch is controlled by the drive train. | |
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11 | * |
12 | * pre-condition: This command must be run by a button in OI. The robot must be | |
13 | * attached to the rope. | |
14 | * | |
15 | * post-condition: Winch motor set to a specified speed. | |
16 | * | |
17 | * @param motorVal | |
18 | * value range is from -1 to 1 | |
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19 | * |
20 | * @author shivanighanta | |
21 | * | |
22 | */ | |
23 | public class RunWinchContinuous extends Command { | |
24 | private double motorVal; | |
25 | ||
ad877a7e | 26 | /** |
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27 | * See JavaDoc comment in class for details |
28 | * | |
ad877a7e | 29 | * @param motorVal |
411129cd | 30 | * value range is from -1 to 1 |
ad877a7e | 31 | */ |
9738295a | 32 | public RunWinchContinuous(double motorVal) { |
411129cd | 33 | requires(Robot.getDriveTrain()); |
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34 | this.motorVal = motorVal; |
35 | } | |
36 | ||
37 | @Override | |
38 | protected void initialize() { | |
411129cd | 39 | Robot.getDriveTrain().setMotorValues(motorVal, motorVal); |
cf086549 | 40 | |
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41 | } |
42 | ||
43 | @Override | |
44 | protected void execute() { | |
45 | ||
46 | } | |
47 | ||
48 | @Override | |
49 | protected boolean isFinished() { | |
411129cd | 50 | return false; |
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51 | } |
52 | ||
53 | @Override | |
54 | protected void end() { | |
411129cd | 55 | |
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56 | } |
57 | ||
58 | @Override | |
59 | protected void interrupted() { | |
a04ce2ff | 60 | end(); |
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61 | } |
62 | } |