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 804ce7ae0a7ecf84ba59bf3bb1c13989ab3cec5d..ba95e6e27621358de74245dc27238d7f8282bc38 100644 (file)
--- a/src/org/usfirst/frc/team3501/robot/commands/ExpelBall.java
+++ b/src/org/usfirst/frc/team3501/robot/commands/ExpelBall.java
@@ -8,7 +8,8 @@ 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: A boulder is present inside the robot.
+ * 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.
@@ -18,6 +19,7 @@ import edu.wpi.first.wpilibj.command.Command;
  */
 
 public class ExpelBall extends Command {
+  private final int TIMEOUT_AMOUNT = 5;
 
   public ExpelBall() {
     requires(Robot.intakeArm);
@@ -25,6 +27,7 @@ public class ExpelBall extends Command {
 
   @Override
   protected void initialize() {
+    this.setTimeout(TIMEOUT_AMOUNT);
     if (Robot.photogate.isBallPresent())
       Robot.intakeArm.outputBall();
   }
@@ -35,7 +38,7 @@ public class ExpelBall extends Command {
 
   @Override
   protected boolean isFinished() {
-    return !Robot.photogate.isBallPresent();
+    return (this.isTimedOut() || !Robot.photogate.isBallPresent());
   }
 
   @Override