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1 | package org.usfirst.frc.team3501.robot.commands.shooter; |
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 will run the fly wheel motor continuously until the button |
9 | * triggering it is released. |
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10 | * |
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11 | * pre-condition: This command must be run by a button in OI, with |
12 | * button.whileHeld(...). |
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13 | * |
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14 | * @author Shaina |
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15 | */ |
16 | public class RunFlyWheelContinuous extends Command { |
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17 | private double motorVal; |
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18 | |
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19 | /** |
20 | * See JavaDoc comment in class for details |
21 | * |
22 | * @param motorVal |
23 | * value range from -1 to 1 |
24 | */ |
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25 | public RunFlyWheelContinuous(double motorVal) { |
26 | this.motorVal = motorVal; |
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27 | } |
28 | |
29 | // Called just before this Command runs the first time |
30 | @Override |
31 | protected void initialize() { |
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32 | Robot.getShooter().setFlyWheelMotorVal(motorVal); |
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33 | } |
34 | |
35 | // Called repeatedly when this Command is scheduled to run |
36 | @Override |
37 | protected void execute() { |
38 | } |
39 | |
40 | // Called once after isFinished returns true |
41 | @Override |
42 | protected void end() { |
43 | } |
44 | |
45 | // Called when another command which requires one or more of the same |
46 | // subsystems is scheduled to run |
47 | @Override |
48 | protected void interrupted() { |
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49 | end(); |
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50 | } |
51 | |
52 | @Override |
53 | protected boolean isFinished() { |
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54 | // TODO |
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55 | return false; |
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56 | } |
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57 | |
58 | } |