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.Timer;
   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  * button triggering it is pressed. This command also makes the drive train
  11  * motors run because the winch is controlled by the drive train.
  12  *
  13  * pre-condition: This command is run by a button in OI. The robot must be
  14  * attached to the rope.
  15  *
  16  * post-condition: Winch motor set to a specified speed for a specified time.
  17  *
  18  * @param motorVal
  19  *          value range is from -1 to 1
  20  * @param time
  21  *          in seconds
  22  * @author shivanighanta
  23  *
  24  */
  25
  26 public class RunWinch 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 RunWinch(double time, double motorVal) {
  40     requires(Robot.getDriveTrain());
  41     timer = new Timer();
  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(motorVal, motorVal);
  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 }