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1 | package org.usfirst.frc.team3501.robot.commands.intake; |
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 | /** | |
8 | * Reverses the intake until the button triggering this command is released | |
9 | * | |
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10 | * pre-condition: This command must be run by a button in OI with |
11 | * button.whileHeld(...). | |
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12 | */ |
13 | public class ReverseIntakeContinuous extends Command { | |
14 | ||
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15 | public ReverseIntakeContinuous() { |
16 | requires(Robot.getIntake()); | |
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17 | } |
18 | ||
19 | // Called just before this Command runs the first time | |
20 | @Override | |
21 | protected void initialize() { | |
22 | } | |
23 | ||
24 | // Called repeatedly when this Command is scheduled to run | |
25 | @Override | |
26 | protected void execute() { | |
1755df31 | 27 | Robot.getIntake().runReverseIntake(); |
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28 | } |
29 | ||
30 | // Make this return true when this Command no longer needs to run execute() | |
31 | @Override | |
32 | protected boolean isFinished() { | |
33 | return false; | |
34 | } | |
35 | ||
36 | // Called once after isFinished returns true | |
37 | @Override | |
38 | protected void end() { | |
5690f629 | 39 | Robot.getIntake().stopIntake(); |
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40 | } |
41 | ||
42 | // Called when another command which requires one or more of the same | |
43 | // subsystems is scheduled to run | |
44 | @Override | |
45 | protected void interrupted() { | |
5690f629 | 46 | end(); |
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47 | } |
48 | } |