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     timer = new Timer();
  41     requires(Robot.getDriveTrain());
  42     this.time = time;
  43     this.motorVal = motorVal;
  44   }
  45
  46   @Override
  47   protected void initialize() {
  48     timer.start();
  49   }
  50
  51   @Override
  52   protected void execute() {
  53     Robot.getDriveTrain().setMotorValues(Constants.Climber.MAINTAIN_MOTOR_VAL,
  54         Constants.Climber.MAINTAIN_MOTOR_VAL);
  55
  56   }
  57
  58   @Override
  59   protected boolean isFinished() {
  60     return timer.get() >= time;
  61   }
  62
  63   @Override
  64   protected void end() {
  65     Robot.getDriveTrain().stop();
  66   }
  67
  68   @Override
  69   protected void interrupted() {
  70     end();
  71   }
  72 }