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     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(motorVal, motorVal);
  53
  54   }
  55
  56   @Override
  57   protected boolean isFinished() {
  58     return timer.get() >= time;
  59   }
  60
  61   @Override
  62   protected void end() {
  63     Robot.getDriveTrain().stop();
  64   }
  65
  66   @Override
  67   protected void interrupted() {
  68     end();
  69   }
  70 }