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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 | ||
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5 | import edu.wpi.first.wpilibj.command.Command; |
6 | ||
7 | /** | |
de8c65d3 | 8 | * This command will run the winch motor continuously until the button |
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9 | * triggering it is released. |
10 | * | |
11 | * pre-condition: This command must be run by a button in OI. The robot must be | |
12 | * attached to the rope. | |
13 | * | |
14 | * post-condition: Winch motor set to a specified speed. | |
15 | * | |
16 | * @param motorVal | |
17 | * value range is from -1 to 1 | |
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18 | * |
19 | * @author shivanighanta | |
20 | * | |
21 | */ | |
22 | public class RunWinchContinuous extends Command { | |
23 | private double motorVal; | |
24 | ||
25 | public RunWinchContinuous(double motorVal) { | |
43980ce1 | 26 | requires(Robot.getClimber()); |
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27 | this.motorVal = motorVal; |
28 | } | |
29 | ||
30 | @Override | |
31 | protected void initialize() { | |
5be898b7 | 32 | Robot.getClimber().setMotorValue(motorVal); |
cf086549 | 33 | |
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34 | } |
35 | ||
36 | @Override | |
37 | protected void execute() { | |
38 | ||
39 | } | |
40 | ||
41 | @Override | |
42 | protected boolean isFinished() { | |
de8c65d3 | 43 | return !Robot.getOI().toggleWinch.get(); |
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44 | } |
45 | ||
46 | @Override | |
47 | protected void end() { | |
a04ce2ff | 48 | Robot.getClimber().stop(); |
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49 | } |
50 | ||
51 | @Override | |
52 | protected void interrupted() { | |
a04ce2ff | 53 | end(); |
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54 | } |
55 | } |