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 com.sun.glass.ui.Timer;
   6
   7 import edu.wpi.first.wpilibj.command.Command;
   8
   9 /**
  10  * Runs the winch for a given time and motor value
  11  *
  12  * @author shivanighanta
  13  *
  14  */
  15 public class RunWinch extends Command {
  16   Timer timer;
  17   private double time;
  18   private double motorVal;
  19
  20   public RunWinch(double time, double motorVal) {
  21     requires(Robot.getClimber());
  22     this.time = time;
  23     this.motorVal = motorVal;
  24   }
  25
  26   @Override
  27   protected void initialize() {
  28     timer.start();
  29     Robot.getClimber().setMotorValues(motorVal, motorVal);
  30   }
  31
  32   @Override
  33   protected void execute() {
  34
  35   }
  36
  37   @Override
  38   protected boolean isFinished() {
  39     return timer.get() >= time;
  40   }
  41
  42   @Override
  43   protected void end() {
  44     Robot.getClimber().stop();
  45   }
  46
  47   @Override
  48   protected void interrupted() {
  49     end();
  50   }
  51 }