| 1 | package org.usfirst.frc.team3501.robot.commands.climber; |
| 2 | |
| 3 | import org.usfirst.frc.team3501.robot.Robot; |
| 4 | import org.usfirst.frc.team3501.robot.subsystems.Climber; |
| 5 | |
| 6 | import edu.wpi.first.wpilibj.command.Command; |
| 7 | |
| 8 | public class ToggleWinch extends Command { |
| 9 | Climber climber = Robot.getClimber(); |
| 10 | private double climbingSpeed; |
| 11 | |
| 12 | public ToggleWinch() { |
| 13 | requires(climber); |
| 14 | climbingSpeed = climber.CLIMBER_SPEED; |
| 15 | } |
| 16 | |
| 17 | @Override |
| 18 | protected void initialize() { |
| 19 | } |
| 20 | |
| 21 | @Override |
| 22 | protected void execute() { |
| 23 | if (climber.shouldBeClimbing) { |
| 24 | climber.setCANTalonsBrakeMode(climber.COAST_MODE); |
| 25 | climber.setMotorValues(climbingSpeed); |
| 26 | } else { |
| 27 | climber.setCANTalonsBrakeMode(climber.BRAKE_MODE); |
| 28 | |
| 29 | /* Not sure if should have */ |
| 30 | climber.stop(); |
| 31 | end(); |
| 32 | } |
| 33 | } |
| 34 | |
| 35 | @Override |
| 36 | protected boolean isFinished() { |
| 37 | return false; |
| 38 | } |
| 39 | |
| 40 | @Override |
| 41 | protected void end() { |
| 42 | climber.shouldBeClimbing = !climber.shouldBeClimbing; |
| 43 | } |
| 44 | |
| 45 | @Override |
| 46 | protected void interrupted() { |
| 47 | end(); |
| 48 | } |
| 49 | } |