projects
/
3501
/
2017steamworks
/ blobdiff
commit
grep
author
committer
pickaxe
?
search:
re
summary
|
shortlog
|
log
|
commit
|
commitdiff
|
tree
raw
|
inline
| side by side
competition fixes
[3501/2017steamworks]
/
src
/
org
/
usfirst
/
frc
/
team3501
/
robot
/
commands
/
intake
/
RunIntakeContinuous.java
diff --git
a/src/org/usfirst/frc/team3501/robot/commands/intake/RunIntakeContinuous.java
b/src/org/usfirst/frc/team3501/robot/commands/intake/RunIntakeContinuous.java
index 961c3fc3b1a9abcf3eb6b5e69730401ff6cf92e8..5d26e02220d7b580d0b7941ff57b1c688e46fc49 100644
(file)
--- a/
src/org/usfirst/frc/team3501/robot/commands/intake/RunIntakeContinuous.java
+++ b/
src/org/usfirst/frc/team3501/robot/commands/intake/RunIntakeContinuous.java
@@
-7,41
+7,46
@@
import edu.wpi.first.wpilibj.command.Command;
/***
*
/***
*
- * Runs the intake continuously.
+ * Runs the intake continuously when button is pressed, and when button is not
+ * pressed does not run.
+ *
+ * Intended to be run inside a .whileHeld() call on a button in OI
*
* @author Meeta
*
*/
public class RunIntakeContinuous extends Command {
*
* @author Meeta
*
*/
public class RunIntakeContinuous extends Command {
- // create setter method for speed, use setSpeed method to do end() by setting
- // speed to 0
+ private Intake intake = Robot.getIntake();
+
+ private double previousMotorValue = 0;
+ private double targetMotorValue = intake.INTAKE_SPEED;
public RunIntakeContinuous() {
public RunIntakeContinuous() {
- requires(
Robot.getIntake()
);
+ requires(
intake
);
}
@Override
protected boolean isFinished() {
}
@Override
protected boolean isFinished() {
- // TODO Auto-generated method stub
- return true;
+ return false;
}
// Called just before this Command runs the first time
@Override
protected void initialize() {
}
// Called just before this Command runs the first time
@Override
protected void initialize() {
-
}
// Called repeatedly when this Command is scheduled to run
@Override
protected void execute() {
}
// Called repeatedly when this Command is scheduled to run
@Override
protected void execute() {
- Robot.getIntake().setSpeed(Robot.getIntake().INTAKE_SPEED);
+ double motorValue = (6 * previousMotorValue + targetMotorValue) / 7;
+ previousMotorValue = motorValue;
+ intake.setSpeed(motorValue);
}
// Called once after isFinished returns true
@Override
protected void end() {
}
// Called once after isFinished returns true
@Override
protected void end() {
-
Intake.intake.setSpeed(0
);
+
Robot.getIntake().stopIntake(
);
}
// Called when another command which requires one or more of the same
}
// Called when another command which requires one or more of the same