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 runs 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   Timer timer;
  27   private double time;
  28   private double motorVal;
  29
  30   /**
  31    * See JavaDoc comment in class for details
  32    *
  33    * @param time
  34    *          time in seconds to run the winch
  35    * @param motorVal
  36    *          value range is from -1 to 1
  37    */
  38   public RunWinch(double time, double motorVal) {
  39     requires(Robot.getDriveTrain());
  40     this.time = time;
  41     this.motorVal = motorVal;
  42   }
  43
  44   @Override
  45   protected void initialize() {
  46     timer.start();
  47   }
  48
  49   @Override
  50   protected void execute() {
  51     Robot.getDriveTrain().setMotorValues(motorVal, motorVal);
  52
  53   }
  54
  55   @Override
  56   protected boolean isFinished() {
  57     return timer.get() >= time;
  58   }
  59
  60   @Override
  61   protected void end() {
  62     Robot.getDriveTrain().stop();
  63
  64   }
  65
  66   @Override
  67   protected void interrupted() {
  68     end();
  69   }
  70 }