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;
/**
*/
public class RunWinch extends Command {
- Timer timer;
+ Climber climber = Robot.getClimber();
+
private double time;
private double motorVal;
* @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() {
- timer.start();
+ climber.setCANTalonsBrakeMode(climber.COAST_MODE);
}
@Override
protected void execute() {
- Robot.getDriveTrain().setMotorValues(motorVal, motorVal);
-
+ climber.setMotorValues(climber.CLIMBER_SPEED);
}
@Override
protected boolean isFinished() {
- return timer.get() >= time;
+ // return timeSinceInitialized() >= time;
+ return false;
}
@Override
protected void end() {
- Robot.getDriveTrain().stop();
+ climber.stop();
}
@Override