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1 | package org.usfirst.frc.team3501.robot.commands.climber; |
2 | ||
a04ce2ff | 3 | import org.usfirst.frc.team3501.robot.Robot; |
9dc69158 | 4 | import org.usfirst.frc.team3501.robot.subsystems.DriveTrain; |
a04ce2ff | 5 | |
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6 | import edu.wpi.first.wpilibj.command.Command; |
7 | ||
8 | /** | |
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9 | * This command runs the drive train motors (which runs the winch) continuously |
10 | * at a specified speed until the button triggering it is released | |
e2e9a7a7 | 11 | * |
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12 | * pre-condition: This command must be run by a button in OI with |
13 | * button.whileHeld(...). The robot must be attached to the rope. | |
e2e9a7a7 | 14 | * |
d8ebba03 | 15 | * post-condition: Drive train motors set to a specified speed. |
e2e9a7a7 | 16 | * |
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17 | * @author shivanighanta |
18 | * | |
19 | */ | |
20 | public class RunWinchContinuous extends Command { | |
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21 | DriveTrain driveTrain = Robot.getDriveTrain(); |
22 | private double climbingSpeed; | |
9738295a | 23 | |
ad877a7e | 24 | /** |
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25 | * See JavaDoc comment in class for details |
26 | * | |
ad877a7e | 27 | * @param motorVal |
411129cd | 28 | * value range is from -1 to 1 |
ad877a7e | 29 | */ |
cef1f36d | 30 | public RunWinchContinuous() { |
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31 | requires(driveTrain); |
32 | climbingSpeed = driveTrain.CLIMBER_SPEED; | |
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33 | } |
34 | ||
35 | @Override | |
36 | protected void initialize() { | |
37 | } | |
38 | ||
39 | @Override | |
40 | protected void execute() { | |
9dc69158 | 41 | Robot.getDriveTrain().setMotorValues(climbingSpeed, climbingSpeed); |
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42 | } |
43 | ||
44 | @Override | |
45 | protected boolean isFinished() { | |
3e515b75 | 46 | return false; |
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47 | } |
48 | ||
49 | @Override | |
50 | protected void end() { | |
411129cd | 51 | |
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52 | } |
53 | ||
54 | @Override | |
55 | protected void interrupted() { | |
a04ce2ff | 56 | end(); |
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57 | } |
58 | } |