X-Git-Url: http://challenge-bot.com/repos/?a=blobdiff_plain;f=src%2Forg%2Fusfirst%2Ffrc%2Fteam3501%2Frobot%2Fcommands%2Fclimber%2FRunWinchContinuous.java;h=06fa1547db2131986d6ea88af5fba47ca3c1387c;hb=150f450f2b4f9e6094d71007507a7b877e05328a;hp=5631290c2b57306098bccc7a0986977206ee059d;hpb=9d7d66765de9d108577d048de721fb3557c4495a;p=3501%2F2017steamworks

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 5631290..06fa154 100644
--- a/src/org/usfirst/frc/team3501/robot/commands/climber/RunWinchContinuous.java
+++ b/src/org/usfirst/frc/team3501/robot/commands/climber/RunWinchContinuous.java
@@ -1,28 +1,26 @@
 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;
 
 /**
- * <<<<<<< 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. This
- * command also runs the drive train. >>>>>>> Delete StopWinch and Climber
- * subsystem, edit javadoc comments
+ * This command runs the drive train motors (which runs the winch) continuously
+ * at a specified speed until the button triggering it is released
  *
- * pre-condition: This command must be run by a button in OI. The robot must be
- * attached to the rope.
+ * pre-condition: This command must be run by a button in OI with
+ * button.whileHeld(...). The robot must be attached to the rope.
  *
- * post-condition: Winch motor set to a specified speed.
+ * post-condition: Drive train motors set to a specified speed.
  *
  * @author shivanighanta
  *
  */
 public class RunWinchContinuous extends Command {
-  private double motorVal;
+  Climber climber = Robot.getClimber();
+  private double climbingSpeed;
 
   /**
    * See JavaDoc comment in class for details
@@ -30,19 +28,19 @@ public class RunWinchContinuous extends Command {
    * @param motorVal
    *          value range is from -1 to 1
    */
-  public RunWinchContinuous(double motorVal) {
-    requires(Robot.getDriveTrain());
-    this.motorVal = motorVal;
+  public RunWinchContinuous() {
+    requires(climber);
+    climbingSpeed = climber.CLIMBER_SPEED;
   }
 
   @Override
   protected void initialize() {
-    Robot.getDriveTrain().setMotorValues(motorVal, motorVal);
   }
 
   @Override
   protected void execute() {
-
+    double thrust = OI.leftJoystick.getY();
+    climber.setMotorValues(-thrust);
   }
 
   @Override
@@ -52,7 +50,7 @@ public class RunWinchContinuous extends Command {
 
   @Override
   protected void end() {
-
+    climber.stop();
   }
 
   @Override