Delete StopWinch and Climber subsystem, edit javadoc comments

[3501/2017steamworks] / src / org / usfirst / frc / team3501 / robot / commands / climber / RunWinchContinuous.java

diff --git a/src/org/usfirst/frc/team3501/robot/commands/climber/RunWinchContinuous.java b/src/org/usfirst/frc/team3501/robot/commands/climber/RunWinchContinuous.java
index bb2a74e8398aeefc7a2a104a01822af6197b1967..a713cb2a1a8c7d7bcf1f7bc4192f35bb92babecf 100644 (file)
--- a/src/org/usfirst/frc/team3501/robot/commands/climber/RunWinchContinuous.java
+++ b/src/org/usfirst/frc/team3501/robot/commands/climber/RunWinchContinuous.java
@@ -5,31 +5,44 @@ import org.usfirst.frc.team3501.robot.Robot;
 import edu.wpi.first.wpilibj.command.Command;
 
 /**
+<<<<<<< 1b45bc927675060d057730fc7c7083fb9d813f66
+ * This command runs the winch motor continuously at a specified speed until the
+ * button triggering it is released. This command also makes the drive train
+ * motors run because the winch is controlled by the drive train.
+=======
  * This command will run the winch motor continuously until the button
- * triggering it is released.
+ * triggering it is released. This command also runs the drive train.
+>>>>>>> Delete StopWinch and Climber subsystem, edit javadoc comments
  *
  * pre-condition: This command must be run by a button in OI. The robot must be
  * attached to the rope.
  *
  * post-condition: Winch motor set to a specified speed.
  *
- * @param motorVal
- *          value range is from -1 to 1
- *
  * @author shivanighanta
  *
  */
 public class RunWinchContinuous extends Command {
   private double motorVal;
 
+  /**
+   * See JavaDoc comment in class for details
+   *
+   * @param motorVal
+   *          value range is from -1 to 1
+   */
   public RunWinchContinuous(double motorVal) {
+    requires(Robot.getDriveTrain());
     this.motorVal = motorVal;
   }
 
   @Override
   protected void initialize() {
-    Robot.getClimber().setMotorValue(motorVal);
+    Robot.getDriveTrain().setMotorValues(motorVal, motorVal);
+<<<<<<< 1b45bc927675060d057730fc7c7083fb9d813f66
+=======
 
+>>>>>>> Delete StopWinch and Climber subsystem, edit javadoc comments
   }
 
   @Override
@@ -39,12 +52,12 @@ public class RunWinchContinuous extends Command {
 
   @Override
   protected boolean isFinished() {
-    return !Robot.getOI().toggleWinch.get();
+    return false;
   }
 
   @Override
   protected void end() {
-    Robot.getClimber().stop();
+
   }
 
   @Override