X-Git-Url: http://challenge-bot.com/repos/?a=blobdiff_plain;f=src%2Forg%2Fusfirst%2Ffrc%2Fteam3501%2Frobot%2Fcommands%2Fdoublejointeddefensearm%2FLowerDoubleJointedDefenseWristContinuous.java;fp=src%2Forg%2Fusfirst%2Ffrc%2Fteam3501%2Frobot%2Fcommands%2Fdoublejointeddefensearm%2FLowerDoubleJointedDefenseWristContinuous.java;h=6a193842a486532d3ed5210c8467b95a5d149e38;hb=1fe8448700c9ee28dd32df94e56d28a79d4f8ead;hp=0000000000000000000000000000000000000000;hpb=60fa3e53be375f99b4a5f5d97515987db1905935;p=3501%2Fstronghold-2016

diff --git a/src/org/usfirst/frc/team3501/robot/commands/doublejointeddefensearm/LowerDoubleJointedDefenseWristContinuous.java b/src/org/usfirst/frc/team3501/robot/commands/doublejointeddefensearm/LowerDoubleJointedDefenseWristContinuous.java
new file mode 100755
index 00000000..6a193842
--- /dev/null
+++ b/src/org/usfirst/frc/team3501/robot/commands/doublejointeddefensearm/LowerDoubleJointedDefenseWristContinuous.java
@@ -0,0 +1,46 @@
+package org.usfirst.frc.team3501.robot.commands.doublejointeddefensearm;
+
+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 lowers the defenseWrist continually while the button is being held down.
+ *
+ * @author shaina
+ *
+ */
+public class LowerDoubleJointedDefenseWristContinuous extends Command {
+
+  private double speed;
+
+  public LowerDoubleJointedDefenseWristContinuous(double speed) {
+    requires(Robot.defenseArm);
+    this.speed = -speed;
+  }
+
+  @Override
+  protected void initialize() {
+    Robot.defenseArm.setHandSpeed(speed);
+  }
+
+  @Override
+  protected void execute() {
+  }
+
+  @Override
+  protected boolean isFinished() {
+    return true;
+  }
+
+  @Override
+  protected void end() {
+    Robot.defenseArm.setHandSpeed(0);
+  }
+
+  @Override
+  protected void interrupted() {
+    end();
+  }
+}