challenge-bot.com Git - 3501/2017steamworks/blob - src/org/usfirst/frc/team3501/robot/commands/climber/RunWinchContinuous.java

   1 package org.usfirst.frc.team3501.robot.commands.climber;
   2
   3 import org.usfirst.frc.team3501.robot.OI;
   4 import org.usfirst.frc.team3501.robot.Robot;
   5 import org.usfirst.frc.team3501.robot.subsystems.Climber;
   6
   7 import edu.wpi.first.wpilibj.command.Command;
   8
   9 /**
  10  * This command runs the drive train motors (which runs the winch) continuously
  11  * at a specified speed until the button triggering it is released
  12  *
  13  * pre-condition: This command must be run by a button in OI with
  14  * button.whileHeld(...). The robot must be attached to the rope.
  15  *
  16  * post-condition: Drive train motors set to a specified speed.
  17  *
  18  * @author shivanighanta
  19  *
  20  */
  21 public class RunWinchContinuous extends Command {
  22   Climber climber = Robot.getClimber();
  23   private double climbingSpeed;
  24
  25   /**
  26    * See JavaDoc comment in class for details
  27    *
  28    * @param motorVal
  29    *          value range is from -1 to 1
  30    */
  31   public RunWinchContinuous() {
  32     requires(climber);
  33     climbingSpeed = climber.CLIMBER_SPEED;
  34   }
  35
  36   @Override
  37   protected void initialize() {
  38     climber.setCANTalonsBrakeMode(climber.COAST_MODE);
  39   }
  40
  41   @Override
  42   protected void execute() {
  43     double thrust = OI.xboxController.getY();
  44     climber.setMotorValues(-thrust);
  45   }
  46
  47   @Override
  48   protected boolean isFinished() {
  49     return false;
  50   }
  51
  52   @Override
  53   protected void end() {
  54     climber.stop();
  55   }
  56
  57   @Override
  58   protected void interrupted() {
  59     end();
  60   }
  61 }