| 1 | package org.usfirst.frc3501.RiceCatRobot.commands; |
| 2 | |
| 3 | import org.usfirst.frc3501.RiceCatRobot.Robot; |
| 4 | import org.usfirst.frc3501.RiceCatRobot.RobotMap; |
| 5 | import org.usfirst.frc3501.RiceCatRobot.RobotMap.Direction; |
| 6 | |
| 7 | import edu.wpi.first.wpilibj.Timer; |
| 8 | import edu.wpi.first.wpilibj.command.Command; |
| 9 | |
| 10 | /** |
| 11 | * This command takes a time in seconds which is how long it should run to move |
| 12 | * arm up or down |
| 13 | * |
| 14 | */ |
| 15 | public class MoveArmFor extends Command { |
| 16 | private double seconds; |
| 17 | private Timer timer; |
| 18 | private Direction direction; |
| 19 | |
| 20 | /* |
| 21 | * @param Direction must be up or down |
| 22 | */ |
| 23 | public MoveArmFor(double seconds, Direction direction) { |
| 24 | this.seconds = seconds; |
| 25 | this.direction = direction; |
| 26 | } |
| 27 | |
| 28 | @Override |
| 29 | protected void initialize() { |
| 30 | timer = new Timer(); |
| 31 | timer.start(); |
| 32 | } |
| 33 | |
| 34 | @Override |
| 35 | protected void execute() { |
| 36 | if (direction == Direction.UP) { |
| 37 | Robot.arm.setArmSpeeds(-RobotMap.ARM_LOW_SPEED); |
| 38 | } else if (direction == Direction.DOWN) { |
| 39 | Robot.arm.setArmSpeeds(RobotMap.ARM_LOW_SPEED); |
| 40 | } |
| 41 | } |
| 42 | |
| 43 | @Override |
| 44 | protected boolean isFinished() { |
| 45 | if (timer.get() > seconds) { |
| 46 | Robot.arm.setArmSpeeds(0); |
| 47 | } |
| 48 | return timer.get() > seconds; |
| 49 | } |
| 50 | |
| 51 | @Override |
| 52 | protected void end() { |
| 53 | Robot.arm.setArmSpeeds(0); |
| 54 | } |
| 55 | |
| 56 | @Override |
| 57 | protected void interrupted() { |
| 58 | end(); |
| 59 | } |
| 60 | } |