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  * @author shivanighanta
  19  *
  20  */
  21
  22 public class RunWinch extends Command {
  23   Timer timer;
  24   private double time;
  25   private double motorVal;
  26
  27   /**
  28    * See JavaDoc comment in class for details
  29    *
  30    * @param time
  31    *          time in seconds to run the winch
  32    * @param motorVal
  33    *          value range is from -1 to 1
  34    */
  35   public RunWinch(double time, double motorVal) {
  36     requires(Robot.getDriveTrain());
  37     this.time = time;
  38     this.motorVal = motorVal;
  39   }
  40
  41   @Override
  42   protected void initialize() {
  43     timer.start();
  44   }
  45
  46   @Override
  47   protected void execute() {
  48     Robot.getDriveTrain().setMotorValues(motorVal, motorVal);
  49
  50   }
  51
  52   @Override
  53   protected boolean isFinished() {
  54     return timer.get() >= time;
  55   }
  56
  57   @Override
  58   protected void end() {
  59     Robot.getDriveTrain().stop();
  60
  61   }
  62
  63   @Override
  64   protected void interrupted() {
  65     end();
  66   }
  67 }