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1 | package org.usfirst.frc.team3501.robot.commands.climber; |
2 | ||
44c26e0c | 3 | import org.usfirst.frc.team3501.robot.Robot; |
b8791ca4 | 4 | import org.usfirst.frc.team3501.robot.subsystems.DriveTrain; |
44c26e0c | 5 | |
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6 | import edu.wpi.first.wpilibj.command.Command; |
7 | ||
8 | /** | |
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9 | * This command runs the winch at a specified speed when the robot has completed |
10 | * the climb and when the button triggering it is pressed. This command also | |
11 | * makes the drive train motors run because the winch is controlled by the drive | |
12 | * train. | |
44c26e0c | 13 | * |
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14 | * pre-condition: This command is run by a button in OI. The robot must have |
15 | * completed climbing. | |
44c26e0c | 16 | * |
8565f615 | 17 | * post-condition: Winch motor set to a specified speed. |
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18 | * |
19 | * @param motorVal | |
20 | * value range is from -1 to 1 | |
8565f615 | 21 | * |
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22 | * @author shivanighanta |
23 | * | |
24 | */ | |
b8791ca4 | 25 | public class MaintainClimbedPosition extends Command { |
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26 | |
27 | /** | |
28 | * See JavaDoc comment in class for details | |
29 | * | |
30 | * @param time | |
31 | * time in seconds to run the winch | |
44c26e0c | 32 | */ |
8565f615 | 33 | public MaintainClimbedPosition() { |
44c26e0c | 34 | requires(Robot.getDriveTrain()); |
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35 | } |
36 | ||
37 | @Override | |
38 | protected void initialize() { | |
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39 | } |
40 | ||
41 | @Override | |
42 | protected void execute() { | |
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43 | Robot.getDriveTrain().setMotorValues(DriveTrain.MAINTAIN_CLIMBED_POSITION, |
44 | DriveTrain.MAINTAIN_CLIMBED_POSITION); | |
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45 | } |
46 | ||
47 | @Override | |
48 | protected boolean isFinished() { | |
8565f615 | 49 | return false; |
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50 | } |
51 | ||
52 | @Override | |
53 | protected void end() { | |
54 | Robot.getDriveTrain().stop(); | |
55 | } | |
56 | ||
57 | @Override | |
58 | protected void interrupted() { | |
59 | end(); | |
60 | } | |
61 | } |