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competition fixes
[3501/2017steamworks]
/
src
/
org
/
usfirst
/
frc
/
team3501
/
robot
/
commands
/
climber
/
RunWinch.java
diff --git
a/src/org/usfirst/frc/team3501/robot/commands/climber/RunWinch.java
b/src/org/usfirst/frc/team3501/robot/commands/climber/RunWinch.java
index 7858384dac649f30555d40761e6fa52b6e09ebd5..39149abb14fba12c4c77e24d5aaf2d694da20bf6 100644
(file)
--- a/
src/org/usfirst/frc/team3501/robot/commands/climber/RunWinch.java
+++ b/
src/org/usfirst/frc/team3501/robot/commands/climber/RunWinch.java
@@
-1,6
+1,7
@@
package org.usfirst.frc.team3501.robot.commands.climber;
import org.usfirst.frc.team3501.robot.Robot;
package org.usfirst.frc.team3501.robot.commands.climber;
import org.usfirst.frc.team3501.robot.Robot;
+import org.usfirst.frc.team3501.robot.subsystems.Climber;
import edu.wpi.first.wpilibj.command.Command;
import edu.wpi.first.wpilibj.command.Command;
@@
-23,6
+24,8
@@
import edu.wpi.first.wpilibj.command.Command;
*/
public class RunWinch extends Command {
*/
public class RunWinch extends Command {
+ Climber climber = Robot.getClimber();
+
private double time;
private double motorVal;
private double time;
private double motorVal;
@@
-32,32
+35,33
@@
public class RunWinch extends Command {
* @param time
* time in seconds to run the winch
* @param motorVal
* @param time
* time in seconds to run the winch
* @param motorVal
- * value range is fro
s
m -1 to 1
+ * value range is from -1 to 1
*/
*/
- public RunWinch(
double time, double motorVal
) {
- requires(
Robot.getDriveTrain()
);
+ public RunWinch() {
+ requires(
climber
);
this.time = time;
this.motorVal = motorVal;
}
@Override
protected void initialize() {
this.time = time;
this.motorVal = motorVal;
}
@Override
protected void initialize() {
+ climber.setCANTalonsBrakeMode(climber.COAST_MODE);
}
@Override
protected void execute() {
}
@Override
protected void execute() {
- Robot.getDriveTrain().setMotorValues(motorVal, motorVal);
-
+ climber.setMotorValues(climber.CLIMBER_SPEED);
}
@Override
protected boolean isFinished() {
}
@Override
protected boolean isFinished() {
- return timeSinceInitialized() >= time;
+ // return timeSinceInitialized() >= time;
+ return false;
}
@Override
protected void end() {
}
@Override
protected void end() {
-
Robot.getDriveTrain()
.stop();
+
climber
.stop();
}
@Override
}
@Override