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

   1 package org.usfirst.frc.team3501.robot.commands.climber;
   2
   3 import org.usfirst.frc.team3501.robot.Robot;
   4
   5 import edu.wpi.first.wpilibj.command.Command;
   6
   7 /**
   8  * This command runs the winch at a specified speed and time in seconds when the
   9  * button triggering it is pressed. This command also makes the drive train
  10  * motors run because the winch is controlled by the drive train.
  11  *
  12  * pre-condition: This command is run by a button in OI. The robot must be
  13  * attached to the rope.
  14  *
  15  * post-condition: Winch motor set to a specified speed for a specified time.
  16  *
  17  * @param motorVal
  18  *          value range is from -1 to 1
  19  * @param time
  20  *          in seconds
  21  * @author shivanighanta
  22  *
  23  */
  24
  25 public class RunWinch extends Command {
  26   private double time;
  27   private double motorVal;
  28
  29   /**
  30    * See JavaDoc comment in class for details
  31    *
  32    * @param time
  33    *          time in seconds to run the winch
  34    * @param motorVal
  35    *          value range is from -1 to 1
  36    */
  37   public RunWinch(double time, double motorVal) {
  38     requires(Robot.getDriveTrain());
  39     this.time = time;
  40     this.motorVal = motorVal;
  41   }
  42
  43   @Override
  44   protected void initialize() {
  45   }
  46
  47   @Override
  48   protected void execute() {
  49     Robot.getDriveTrain().setMotorValues(motorVal, motorVal);
  50
  51   }
  52
  53   @Override
  54   protected boolean isFinished() {
  55     return timeSinceInitialized() >= time;
  56   }
  57
  58   @Override
  59   protected void end() {
  60     Robot.getDriveTrain().stop();
  61   }
  62
  63   @Override
  64   protected void interrupted() {
  65     end();
  66   }
  67 }