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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 | ||
5 | import com.sun.glass.ui.Timer; | |
6 | ||
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7 | import edu.wpi.first.wpilibj.command.Command; |
8 | ||
9 | /** | |
dbf2ff8f | 10 | * Runs the winch for a given time and motor value |
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11 | * |
12 | * @author shivanighanta | |
13 | * | |
14 | */ | |
15 | public class RunWinch extends Command { | |
6a363924 | 16 | Timer timer; |
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17 | private double time; |
18 | private double motorVal; | |
19 | ||
20 | public RunWinch(double time, double motorVal) { | |
6a363924 | 21 | requires(Robot.getClimber()); |
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22 | this.time = time; |
23 | this.motorVal = motorVal; | |
24 | } | |
25 | ||
26 | @Override | |
27 | protected void initialize() { | |
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28 | timer.start(); |
29 | Robot.getClimber().setMotorValues(motorVal, motorVal); | |
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30 | } |
31 | ||
32 | @Override | |
33 | protected void execute() { | |
34 | ||
35 | } | |
36 | ||
37 | @Override | |
38 | protected boolean isFinished() { | |
6a363924 | 39 | return timer.get() >= time; |
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40 | } |
41 | ||
42 | @Override | |
43 | protected void end() { | |
6a363924 | 44 | Robot.getClimber().stop(); |
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45 | } |
46 | ||
47 | @Override | |
48 | protected void interrupted() { | |
6a363924 | 49 | end(); |
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50 | } |
51 | } |