challenge-bot.com Git - 3501/2017steamworks/blob - src/org/usfirst/frc/team3501/robot/commands/climber/MaintainClimbedPosition.java

   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.DriveTrain;
   5
   6 import edu.wpi.first.wpilibj.command.Command;
   7
   8 /**
   9  * This command runs the winch at a specified speed and time in seconds when the
  10  * robot has completed the climb and when the button triggering it is pressed.
  11  * This command also makes the drive train motors run because the winch is
  12  * controlled by the drive train.
  13  *
  14  * pre-condition: This command is run by a button in OI. The robot must have
  15  * completed climbing.
  16  *
  17  * post-condition: Winch motor set to a specified speed for a specified time.
  18  *
  19  * @param motorVal
  20  *          value range is from -1 to 1
  21  * @param time
  22  *          in seconds
  23  * @author shivanighanta
  24  *
  25  */
  26 public class MaintainClimbedPosition extends Command {
  27   private double time;
  28
  29   /**
  30    * See JavaDoc comment in class for details
  31    *
  32    * @param time
  33    *          time in seconds to run the winch
  34    */
  35   public MaintainClimbedPosition(double time) {
  36     requires(Robot.getDriveTrain());
  37     this.time = time;
  38   }
  39
  40   @Override
  41   protected void initialize() {
  42   }
  43
  44   @Override
  45   protected void execute() {
  46     Robot.getDriveTrain().setMotorValues(DriveTrain.MAINTAIN_CLIMBED_POSITION,
  47         DriveTrain.MAINTAIN_CLIMBED_POSITION);
  48
  49   }
  50
  51   @Override
  52   protected boolean isFinished() {
  53     return timeSinceInitialized() >= time;
  54   }
  55
  56   @Override
  57   protected void end() {
  58     Robot.getDriveTrain().stop();
  59   }
  60
  61   @Override
  62   protected void interrupted() {
  63     end();
  64   }
  65 }