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 <<<<<<< a5147d5928f01620d8e10f2e9cdea079526d2db3
  37     requires(Robot.getDriveTrain());
  38 =======
  39     requires(Robot.getClimber());
  40 >>>>>>> Implement RunWinch
  41     this.time = time;
  42     this.motorVal = motorVal;
  43   }
  44
  45   @Override
  46   protected void initialize() {
  47     timer.start();
  48 <<<<<<< a5147d5928f01620d8e10f2e9cdea079526d2db3
  49 =======
  50     Robot.getClimber().setMotorValues(motorVal, motorVal);
  51 >>>>>>> Implement RunWinch
  52   }
  53
  54   @Override
  55   protected void execute() {
  56     Robot.getDriveTrain().setMotorValues(motorVal, motorVal);
  57
  58   }
  59
  60   @Override
  61   protected boolean isFinished() {
  62     return timer.get() >= time;
  63   }
  64
  65   @Override
  66   protected void end() {
  67 <<<<<<< a5147d5928f01620d8e10f2e9cdea079526d2db3
  68     Robot.getDriveTrain().stop();
  69
  70 =======
  71     Robot.getClimber().stop();
  72 >>>>>>> Implement RunWinch
  73   }
  74
  75   @Override
  76   protected void interrupted() {
  77     end();
  78   }
  79 }