X-Git-Url: http://challenge-bot.com/repos/?a=blobdiff_plain;f=src%2Forg%2Fusfirst%2Ffrc%2Fteam3501%2Frobot%2Fcommands%2Fclimber%2FRunWinch.java;h=5a76b5c182b377c6892b64c75572ca0857fa44ec;hb=150f450f2b4f9e6094d71007507a7b877e05328a;hp=99fb0f12ab087313d8afa14e0e83ce248b609819;hpb=dbf2ff8fd7ae4dc5a1e3a490c47e12380500e8ff;p=3501%2F2017steamworks

diff --git a/src/org/usfirst/frc/team3501/robot/commands/climber/RunWinch.java b/src/org/usfirst/frc/team3501/robot/commands/climber/RunWinch.java
index 99fb0f1..5a76b5c 100644
--- a/src/org/usfirst/frc/team3501/robot/commands/climber/RunWinch.java
+++ b/src/org/usfirst/frc/team3501/robot/commands/climber/RunWinch.java
@@ -1,18 +1,44 @@
 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.command.Command;
 
 /**
- * Runs the winch for a given time and motor value
+ * This command runs the winch at a specified speed and time in seconds when the
+ * button triggering it is pressed. This command also makes the drive train
+ * motors run because the winch is controlled by the drive train.
+ *
+ * pre-condition: This command is run by a button in OI. The robot must be
+ * attached to the rope.
  *
+ * post-condition: Winch motor set to a specified speed for a specified time.
+ *
+ * @param motorVal
+ *          value range is from -1 to 1
+ * @param time
+ *          in seconds
  * @author shivanighanta
  *
  */
+
 public class RunWinch extends Command {
+  Climber climber = Robot.getClimber();
+
   private double time;
   private double motorVal;
 
+  /**
+   * See JavaDoc comment in class for details
+   *
+   * @param time
+   *          time in seconds to run the winch
+   * @param motorVal
+   *          value range is from -1 to 1
+   */
   public RunWinch(double time, double motorVal) {
+    requires(climber);
     this.time = time;
     this.motorVal = motorVal;
   }
@@ -23,20 +49,21 @@ public class RunWinch extends Command {
 
   @Override
   protected void execute() {
-
+    climber.setMotorValues(motorVal);
   }
 
   @Override
   protected boolean isFinished() {
-    return false;
+    return timeSinceInitialized() >= time;
   }
 
   @Override
   protected void end() {
-
+    climber.stop();
   }
 
   @Override
   protected void interrupted() {
+    end();
   }
 }