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.
  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    *
  32    * @author shivanighanta
  33    *
  34    */
  35   public RunWinch(double time, double motorVal) {
  36     requires(Robot.getClimber());
  37     this.time = time;
  38     this.motorVal = motorVal;
  39   }
  40
  41   @Override
  42   protected void initialize() {
  43     timer.start();
  44     Robot.getClimber().setMotorValue(motorVal);
  45   }
  46
  47   @Override
  48   protected void execute() {
  49
  50   }
  51
  52   @Override
  53   protected boolean isFinished() {
  54     return timer.get() >= time;
  55   }
  56
  57   @Override
  58   protected void end() {
  59     Robot.getClimber().stop();
  60   }
  61
  62   @Override
  63   protected void interrupted() {
  64     end();
  65   }
  66 }