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1 | package org.usfirst.frc.team3501.robot.commands.climber; |
2 | ||
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3 | import org.usfirst.frc.team3501.robot.Robot; |
4 | ||
43980ce1 | 5 | import edu.wpi.first.wpilibj.Timer; |
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6 | import edu.wpi.first.wpilibj.command.Command; |
7 | ||
8 | /** | |
e2e9a7a7 | 9 | * This command runs the winch at a specified speed and time in seconds when the |
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10 | * button triggering it is pressed. This command also makes the drive train |
11 | * motors run because the winch is controlled by the drive train. | |
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12 | * |
13 | * pre-condition: This command is run by a button in OI. The robot must be | |
14 | * attached to the rope. | |
15 | * | |
16 | * post-condition: Winch motor set to a specified speed for a specified time. | |
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17 | * |
18 | * @author shivanighanta | |
19 | * | |
20 | */ | |
ad877a7e | 21 | |
9738295a | 22 | public class RunWinch extends Command { |
6a363924 | 23 | Timer timer; |
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24 | private double time; |
25 | private double motorVal; | |
26 | ||
ad877a7e | 27 | /** |
411129cd | 28 | * See JavaDoc comment in class for details |
ad877a7e | 29 | * |
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30 | * @param time |
31 | * time in seconds to run the winch | |
32 | * @param motorVal | |
33 | * value range is from -1 to 1 | |
ad877a7e | 34 | */ |
9738295a | 35 | public RunWinch(double time, double motorVal) { |
411129cd | 36 | requires(Robot.getDriveTrain()); |
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37 | this.time = time; |
38 | this.motorVal = motorVal; | |
39 | } | |
40 | ||
41 | @Override | |
42 | protected void initialize() { | |
6a363924 | 43 | timer.start(); |
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44 | } |
45 | ||
46 | @Override | |
47 | protected void execute() { | |
411129cd | 48 | Robot.getDriveTrain().setMotorValues(motorVal, motorVal); |
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49 | |
50 | } | |
51 | ||
52 | @Override | |
53 | protected boolean isFinished() { | |
6a363924 | 54 | return timer.get() >= time; |
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55 | } |
56 | ||
57 | @Override | |
58 | protected void end() { | |
411129cd | 59 | Robot.getDriveTrain().stop(); |
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60 | } |
61 | ||
62 | @Override | |
63 | protected void interrupted() { | |
6a363924 | 64 | end(); |
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65 | } |
66 | } |