implement ToggleWinch command

[3501/2017steamworks] / src / org / usfirst / frc / team3501 / robot / commands / climber / RunWinchContinuous.java

package org.usfirst.frc.team3501.robot.commands.climber;

import org.usfirst.frc.team3501.robot.Robot;
import org.usfirst.frc.team3501.robot.subsystems.DriveTrain;

import edu.wpi.first.wpilibj.command.Command;

/**
 * This command runs the drive train motors (which runs the winch) continuously
 * at a specified speed until the button triggering it is released
 *
 * pre-condition: This command must be run by a button in OI with
 * button.whileHeld(...). The robot must be attached to the rope.
 *
 * post-condition: Drive train motors set to a specified speed.
 *
 * @author shivanighanta
 *
 */
public class RunWinchContinuous extends Command {

  DriveTrain driveTrain = Robot.getDriveTrain();
  private double climbingSpeed;

  /**
   * See JavaDoc comment in class for details
   *
   * @param motorVal
   *          value range is from -1 to 1
   */
  public RunWinchContinuous() {
    requires(driveTrain);
    climbingSpeed = driveTrain.CLIMBER_SPEED;
    requires(Robot.getDriveTrain());
    requires(driveTrain);
  }

  @Override
  protected void initialize() {
  }

  @Override
  protected void execute() {
    Robot.getDriveTrain().setMotorValues(climbingSpeed, climbingSpeed);
  }

  @Override
  protected boolean isFinished() {
    return false;
  }

  @Override
  protected void end() {

  }

  @Override
  protected void interrupted() {
    end();
  }
}