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