X-Git-Url: http://challenge-bot.com/repos/?a=blobdiff_plain;f=src%2Forg%2Fusfirst%2Ffrc%2Fteam3501%2Frobot%2Fcommands%2Fdefensearm%2FRaiseDefenseArmContinuous.java;fp=src%2Forg%2Fusfirst%2Ffrc%2Fteam3501%2Frobot%2Fcommands%2Fdefensearm%2FRaiseDefenseArmContinuous.java;h=538391420b7823e9221bb9eb433d5204b001bb87;hb=6bb7f8ac8eca89a8e0b308720f7e15178eef43ea;hp=0000000000000000000000000000000000000000;hpb=a1989c116a0926b44d6f36067e84b7f5fb2d313f;p=3501%2Fstronghold-2016

diff --git a/src/org/usfirst/frc/team3501/robot/commands/defensearm/RaiseDefenseArmContinuous.java b/src/org/usfirst/frc/team3501/robot/commands/defensearm/RaiseDefenseArmContinuous.java
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+++ b/src/org/usfirst/frc/team3501/robot/commands/defensearm/RaiseDefenseArmContinuous.java
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+package org.usfirst.frc.team3501.robot.commands.defensearm;
+
+import org.usfirst.frc.team3501.robot.Robot;
+
+import edu.wpi.first.wpilibj.command.Command;
+
+/***
+ * This command is intended to be run from OI using button.whileHeld(...).
+ * It raises the defenseArm continually while the button is being held down.
+ * 
+ * @author shaina
+ */
+public class RaiseDefenseArmContinuous extends Command {
+
+  private double speed;
+
+  public RaiseDefenseArmContinuous(double speed) {
+    requires(Robot.defenseArm);
+    this.speed = speed;
+  }
+
+  @Override
+  protected void initialize() {
+    Robot.defenseArm.setArmSpeed(speed);
+  }
+
+  @Override
+  protected void execute() {
+  }
+
+  @Override
+  protected boolean isFinished() {
+    return true;
+  }
+
+  @Override
+  protected void end() {
+    Robot.defenseArm.setArmSpeed(0);
+  }
+
+  @Override
+  protected void interrupted() {
+    end();
+  }
+}