package org.usfirst.frc.team3501.robot.commands.climber;
+import org.usfirst.frc.team3501.robot.OI;
import org.usfirst.frc.team3501.robot.Robot;
+import org.usfirst.frc.team3501.robot.subsystems.Climber;
import edu.wpi.first.wpilibj.command.Command;
*
*/
public class RunWinchContinuous extends Command {
+ Climber climber = Robot.getClimber();
+ private double climbingSpeed;
/**
* See JavaDoc comment in class for details
* value range is from -1 to 1
*/
public RunWinchContinuous() {
- requires(Robot.getDriveTrain());
+ requires(climber);
+ climbingSpeed = climber.CLIMBER_SPEED;
}
@Override
protected void initialize() {
- Robot.getDriveTrain().setMotorValues(
- Robot.getDriveTrain().getClimbingSpeed(),
- Robot.getDriveTrain().getClimbingSpeed());
+ climber.setCANTalonsBrakeMode(climber.COAST_MODE);
}
@Override
protected void execute() {
-
+ double thrust = OI.xboxController.getY();
+ climber.setMotorValues(-thrust);
}
@Override
@Override
protected void end() {
-
+ climber.stop();
}
@Override