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 at a specified speed and time in seconds when the
  11  * button triggering it is pressed.
  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  * @param motorVal
  19  *          value range is from -1 to 1
  20  * @param time
  21  *          in seconds
  22  * @author shivanighanta
  23  *
  24  */
  25 public class RunWinch extends Command {
  26   Timer timer;
  27   private double time;
  28   private double motorVal;
  29
  30   public RunWinch(double time, double motorVal) {
  31     requires(Robot.getClimber());
  32     this.time = time;
  33     this.motorVal = motorVal;
  34   }
  35
  36   @Override
  37   protected void initialize() {
  38     timer.start();
  39     Robot.getClimber().setMotorValue(motorVal);
  40   }
  41
  42   @Override
  43   protected void execute() {
  44
  45   }
  46
  47   @Override
  48   protected boolean isFinished() {
  49     return timer.get() >= time;
  50   }
  51
  52   @Override
  53   protected void end() {
  54     Robot.getClimber().stop();
  55   }
  56
  57   @Override
  58   protected void interrupted() {
  59     end();
  60   }
  61 }