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f11ce98e KZ |
1 | package org.usfirst.frc3501.RiceCatRobot.commands; |
2 | ||
3 | import edu.wpi.first.wpilibj.command.Command; | |
4 | ||
5 | import org.usfirst.frc3501.RiceCatRobot.Robot; | |
6 | ||
7 | /** | |
8 | * Opens claw by reversing solenoids. | |
9 | * | |
10 | */ | |
11 | public class OpenClaw extends Command { | |
12 | ||
e3bfff96 KZ |
13 | public OpenClaw() { |
14 | requires(Robot.claw); | |
15 | } | |
f11ce98e | 16 | |
e3bfff96 KZ |
17 | protected void initialize() { |
18 | System.out.println("IN INIT OPENCLAW"); | |
19 | } | |
f11ce98e | 20 | |
e3bfff96 KZ |
21 | protected void execute() { |
22 | Robot.claw.openClaw(); | |
23 | System.out.println("Opening Claw"); | |
24 | } | |
f11ce98e | 25 | |
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26 | protected boolean isFinished() { |
27 | System.out.println("Claw Opened"); | |
28 | return Robot.claw.isOpen(); | |
29 | } | |
f11ce98e | 30 | |
e3bfff96 | 31 | protected void end() { |
f11ce98e | 32 | |
e3bfff96 | 33 | } |
f11ce98e | 34 | |
e3bfff96 KZ |
35 | protected void interrupted() { |
36 | } | |
f11ce98e | 37 | } |