| 1 | package org.usfirst.frc.team3501.robot.commands.climber; |
| 2 | |
| 3 | import org.usfirst.frc.team3501.robot.Robot; |
| 4 | |
| 5 | import edu.wpi.first.wpilibj.command.Command; |
| 6 | |
| 7 | /** |
| 8 | <<<<<<< HEAD |
| 9 | * <<<<<<< HEAD <<<<<<< 1b45bc927675060d057730fc7c7083fb9d813f66 This command |
| 10 | * runs the winch motor continuously at a specified speed until the button |
| 11 | * triggering it is released. This command also makes the drive train motors run |
| 12 | * because the winch is controlled by the drive train. ======= This command will |
| 13 | * run the winch motor continuously until the button triggering it is released. |
| 14 | * This command also runs the drive train. >>>>>>> Delete StopWinch and Climber |
| 15 | * subsystem, edit javadoc comments ======= <<<<<<< |
| 16 | * 1b45bc927675060d057730fc7c7083fb9d813f66 This command runs the winch motor |
| 17 | * continuously at a specified speed until the button triggering it is released. |
| 18 | * This command also makes the drive train motors run because the winch is |
| 19 | * controlled by the drive train. ======= This command will run the winch motor |
| 20 | * continuously until the button triggering it is released. This command also |
| 21 | * runs the drive train. >>>>>>> Delete StopWinch and Climber subsystem, edit |
| 22 | * javadoc comments >>>>>>> Delete StopWinch and Climber subsystem, edit javadoc |
| 23 | * comments |
| 24 | ======= |
| 25 | * <<<<<<< 1b45bc927675060d057730fc7c7083fb9d813f66 This command runs the winch |
| 26 | * motor continuously at a specified speed until the button triggering it is |
| 27 | * released. This command also makes the drive train motors run because the |
| 28 | * winch is controlled by the drive train. ======= This command will run the |
| 29 | * winch motor continuously until the button triggering it is released. This |
| 30 | * command also runs the drive train. >>>>>>> Delete StopWinch and Climber |
| 31 | * subsystem, edit javadoc comments |
| 32 | >>>>>>> Fix merging errors with climber subclass |
| 33 | * |
| 34 | * pre-condition: This command must be run by a button in OI. The robot must be |
| 35 | * attached to the rope. |
| 36 | * |
| 37 | * post-condition: Winch motor set to a specified speed. |
| 38 | * |
| 39 | * @author shivanighanta |
| 40 | * |
| 41 | */ |
| 42 | public class RunWinchContinuous extends Command { |
| 43 | private double motorVal; |
| 44 | |
| 45 | /** |
| 46 | * See JavaDoc comment in class for details |
| 47 | * |
| 48 | * @param motorVal |
| 49 | * value range is from -1 to 1 |
| 50 | */ |
| 51 | public RunWinchContinuous(double motorVal) { |
| 52 | requires(Robot.getDriveTrain()); |
| 53 | this.motorVal = motorVal; |
| 54 | } |
| 55 | |
| 56 | @Override |
| 57 | protected void initialize() { |
| 58 | Robot.getDriveTrain().setMotorValues(motorVal, motorVal); |
| 59 | } |
| 60 | |
| 61 | @Override |
| 62 | protected void execute() { |
| 63 | |
| 64 | } |
| 65 | |
| 66 | @Override |
| 67 | protected boolean isFinished() { |
| 68 | return false; |
| 69 | } |
| 70 | |
| 71 | @Override |
| 72 | protected void end() { |
| 73 | |
| 74 | } |
| 75 | |
| 76 | @Override |
| 77 | protected void interrupted() { |
| 78 | end(); |
| 79 | } |
| 80 | } |