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

   1 package org.usfirst.frc.team3501.robot.commands.climber;
   2
   3 import org.usfirst.frc.team3501.robot.Constants;
   4 import org.usfirst.frc.team3501.robot.Robot;
   5
   6 import edu.wpi.first.wpilibj.Timer;
   7 import edu.wpi.first.wpilibj.command.Command;
   8
   9 /**
  10  * This command runs the winch at a specified speed and time in seconds when the
  11  * button triggering it is pressed. This command also makes the drive train
  12  * motors run because the winch is controlled by the drive train.
  13  *
  14  * pre-condition: This command is run by a button in OI. The robot must be
  15  * attached to the rope.
  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 MaintainWinchSpeed extends Command {
  27   Timer timer;
  28   private double time;
  29   private double motorVal;
  30
  31   /**
  32    * See JavaDoc comment in class for details
  33    *
  34    * @param time
  35    *          time in seconds to run the winch
  36    * @param motorVal
  37    *          value range is from -1 to 1
  38    */
  39   public MaintainWinchSpeed(double time, double motorVal) {
  40     requires(Robot.getDriveTrain());
  41     this.time = time;
  42     this.motorVal = motorVal;
  43   }
  44
  45   @Override
  46   protected void initialize() {
  47     timer.start();
  48   }
  49
  50   @Override
  51   protected void execute() {
  52     Robot.getDriveTrain().setMotorValues(Constants.Climber.MAINTAIN_MOTOR_VAL,
  53         Constants.Climber.MAINTAIN_MOTOR_VAL);
  54
  55   }
  56
  57   @Override
  58   protected boolean isFinished() {
  59     return timer.get() >= time;
  60   }
  61
  62   @Override
  63   protected void end() {
  64     Robot.getDriveTrain().stop();
  65   }
  66
  67   @Override
  68   protected void interrupted() {
  69     end();
  70   }
  71 }