add precondition and Timeout to Expel and Intake commands

[3501/stronghold-2016] / src / org / usfirst / frc / team3501 / robot / commands / ExpelBall.java

diff --git a/src/org/usfirst/frc/team3501/robot/commands/ExpelBall.java b/src/org/usfirst/frc/team3501/robot/commands/ExpelBall.java
index 573bd9048cdef6fbabb75ed98b343494cd2f6bd4..ba95e6e27621358de74245dc27238d7f8282bc38 100644 (file)
--- a/src/org/usfirst/frc/team3501/robot/commands/ExpelBall.java
+++ b/src/org/usfirst/frc/team3501/robot/commands/ExpelBall.java
@@ -4,13 +4,30 @@ import org.usfirst.frc.team3501.robot.Robot;
 
 import edu.wpi.first.wpilibj.command.Command;
 
+/***
+ * This command will expel a boulder from the robot, if it is even present to
+ * begin with.
+ *
+ * pre-condition: Intake arm is at correct height and a boulder is present
+ * inside the robot.
+ *
+ * post-condition: A boulder is expelled from inside the robot to the field
+ * outside of the robot.
+ *
+ * @author Lauren and Niyati
+ *
+ */
+
 public class ExpelBall extends Command {
+  private final int TIMEOUT_AMOUNT = 5;
 
   public ExpelBall() {
+    requires(Robot.intakeArm);
   }
 
   @Override
   protected void initialize() {
+    this.setTimeout(TIMEOUT_AMOUNT);
     if (Robot.photogate.isBallPresent())
       Robot.intakeArm.outputBall();
   }
@@ -21,12 +38,12 @@ public class ExpelBall extends Command {
 
   @Override
   protected boolean isFinished() {
-    return !Robot.photogate.isBallPresent();
+    return (this.isTimedOut() || !Robot.photogate.isBallPresent());
   }
 
   @Override
   protected void end() {
-
+    Robot.intakeArm.stopRollers();
   }
 
   @Override