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 import org.usfirst.frc.team3501.robot.subsystems.Climber;
   5
   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   Climber climber = Robot.getClimber();
  28
  29   private double time;
  30   private double motorVal;
  31
  32   /**
  33    * See JavaDoc comment in class for details
  34    *
  35    * @param time
  36    *          time in seconds to run the winch
  37    * @param motorVal
  38    *          value range is from -1 to 1
  39    */
  40   public RunWinch(double time, double motorVal) {
  41     requires(climber);
  42     this.time = time;
  43     this.motorVal = motorVal;
  44   }
  45
  46   @Override
  47   protected void initialize() {
  48   }
  49
  50   @Override
  51   protected void execute() {
  52     climber.setMotorValues(motorVal);
  53   }
  54
  55   @Override
  56   protected boolean isFinished() {
  57     return timeSinceInitialized() >= time;
  58   }
  59
  60   @Override
  61   protected void end() {
  62     climber.stop();
  63   }
  64
  65   @Override
  66   protected void interrupted() {
  67     end();
  68   }
  69 }