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  * This command runs the winch for a given motor value and time in seconds
  11  *
  12  * @param motorVal
  13  *          value range is from -1 to 1
  14  * @param time
  15  *          in seconds
  16  * @author shivanighanta
  17  *
  18  */
  19 public class RunWinch extends Command {
  20   Timer timer;
  21   private double time;
  22   private double motorVal;
  23
  24   public RunWinch(double time, double motorVal) {
  25     requires(Robot.getClimber());
  26     this.time = time;
  27     this.motorVal = motorVal;
  28   }
  29
  30   @Override
  31   protected void initialize() {
  32     timer.start();
  33     Robot.getClimber().setMotorValue(motorVal);
  34   }
  35
  36   @Override
  37   protected void execute() {
  38
  39   }
  40
  41   @Override
  42   protected boolean isFinished() {
  43     return timer.get() >= time;
  44   }
  45
  46   @Override
  47   protected void end() {
  48     Robot.getClimber().stop();
  49   }
  50
  51   @Override
  52   protected void interrupted() {
  53     end();
  54   }
  55 }