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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 bed5c8ca0bda9efa108d8840a12a0d64432bb885..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
@@
-1,8
+1,8
@@
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.Timer;
import edu.wpi.first.wpilibj.command.Command;
/**
import edu.wpi.first.wpilibj.command.Command;
/**
@@
-24,7
+24,8
@@
import edu.wpi.first.wpilibj.command.Command;
*/
public class RunWinch extends Command {
*/
public class RunWinch extends Command {
- Timer timer;
+ Climber climber = Robot.getClimber();
+
private double time;
private double motorVal;
private double time;
private double motorVal;
@@
-36,35
+37,31
@@
public class RunWinch extends Command {
* @param motorVal
* value range is from -1 to 1
*/
* @param motorVal
* 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() {
-
timer.start(
);
+
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 timer.get() >= time;
+ // return timeSinceInitialized() >= time;
+ return false;
}
@Override
protected void end() {
}
@Override
protected void end() {
- Robot.getDriveTrain().stop();
-<<<<<<< 1b45bc927675060d057730fc7c7083fb9d813f66
-=======
-
->>>>>>> Delete StopWinch and Climber subsystem, edit javadoc comments
+ climber.stop();
}
@Override
}
@Override