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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 | /** | |
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8 | * This command stops the winch |
9 | * | |
10 | * post-condition: the motor values are set to 0. | |
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11 | * |
12 | * @author shivanighanta | |
13 | * | |
14 | */ | |
15 | public class StopWinch extends Command { | |
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16 | /** |
17 | * | |
18 | */ | |
9738295a | 19 | public StopWinch() { |
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20 | requires(Robot.getClimber()); |
21 | ||
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22 | } |
23 | ||
24 | @Override | |
25 | protected void initialize() { | |
26 | } | |
27 | ||
28 | @Override | |
29 | protected void execute() { | |
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30 | } |
31 | ||
32 | @Override | |
33 | protected boolean isFinished() { | |
9e39234e | 34 | return true; |
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35 | } |
36 | ||
37 | @Override | |
38 | protected void end() { | |
9e39234e | 39 | Robot.getClimber().stop(); |
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40 | |
41 | } | |
42 | ||
43 | @Override | |
44 | protected void interrupted() { | |
9e39234e | 45 | end(); |
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46 | } |
47 | } |