package org.usfirst.frc.team3501.robot.commands;
+import org.usfirst.frc.team3501.robot.Robot;
+
import edu.wpi.first.wpilibj.command.Command;
-/**
- *
- */
public class ClampBar extends Command {
-
- public ClampBar() {
- // Use requires() here to declare subsystem dependencies
- // eg. requires(chassis);
- }
-
- // Called just before this Command runs the first time
- protected void initialize() {
- }
-
- // Called repeatedly when this Command is scheduled to run
- protected void execute() {
- }
-
- // Make this return true when this Command no longer needs to run execute()
- protected boolean isFinished() {
- return false;
- }
-
- // Called once after isFinished returns true
- protected void end() {
- }
-
- // Called when another command which requires one or more of the same
- // subsystems is scheduled to run
- protected void interrupted() {
- }
+ private double secondsToClamp = 2.0; // seconds for the winch to run in order
+ // for it to clamp(requires testing)
+ private double winchSpeed = 0.5; // requires testing
+
+ public ClampBar() {
+ }
+
+ @Override
+ protected void initialize() {
+ setTimeout(secondsToClamp);
+ Robot.scaler.runWinch(winchSpeed);
+ }
+
+ @Override
+ protected void execute() {
+ }
+
+ @Override
+ protected boolean isFinished() {
+ return isTimedOut();
+ }
+
+ @Override
+ protected void end() {
+ Robot.scaler.runWinch(0);
+ }
+
+ @Override
+ protected void interrupted() {
+ end();
+ }
}