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 when the robot has completed
  10  * the climb and when the button triggering it is pressed. This command also
  11  * makes the drive train motors run because the winch is controlled by the drive
  12  * 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.
  18  *
  19  * @param motorVal
  20  *          value range is from -1 to 1
  21  *
  22  * @author shivanighanta
  23  *
  24  */
  25 public class MaintainClimbedPosition extends Command {
  26
  27   /**
  28    * See JavaDoc comment in class for details
  29    *
  30    * @param time
  31    *          time in seconds to run the winch
  32    */
  33   public MaintainClimbedPosition() {
  34     requires(Robot.getDriveTrain());
  35   }
  36
  37   @Override
  38   protected void initialize() {
  39   }
  40
  41   @Override
  42   protected void execute() {
  43     Robot.getDriveTrain().setMotorValues(DriveTrain.MAINTAIN_CLIMBED_POSITION,
  44         DriveTrain.MAINTAIN_CLIMBED_POSITION);
  45
  46   }
  47
  48   @Override
  49   protected boolean isFinished() {
  50     return false;
  51   }
  52
  53   @Override
  54   protected void end() {
  55     Robot.getDriveTrain().stop();
  56   }
  57
  58   @Override
  59   protected void interrupted() {
  60     end();
  61   }
  62 }