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
   5 import edu.wpi.first.wpilibj.command.Command;
   6
   7 /**
   8  * <<<<<<< 1b45bc927675060d057730fc7c7083fb9d813f66 This command runs the winch
   9  * motor continuously at a specified speed until the button triggering it is
  10  * released. This command also makes the drive train motors run because the
  11  * winch is controlled by the drive train. ======= This command will run the
  12  * winch motor continuously until the button triggering it is released. This
  13  * command also runs the drive train. >>>>>>> Delete StopWinch and Climber
  14  * subsystem, edit javadoc comments
  15  *
  16  * pre-condition: This command must be run by a button in OI. The robot must be
  17  * attached to the rope.
  18  *
  19  * post-condition: Winch motor set to a specified speed.
  20  *
  21  * @author shivanighanta
  22  *
  23  */
  24 public class RunWinchContinuous extends Command {
  25   private double motorVal;
  26
  27   /**
  28    * See JavaDoc comment in class for details
  29    *
  30    * @param motorVal
  31    *          value range is from -1 to 1
  32    */
  33   public RunWinchContinuous(double motorVal) {
  34     requires(Robot.getDriveTrain());
  35     this.motorVal = motorVal;
  36   }
  37
  38   @Override
  39   protected void initialize() {
  40     Robot.getDriveTrain().setMotorValues(motorVal, motorVal);
  41   }
  42
  43   @Override
  44   protected void execute() {
  45
  46   }
  47
  48   @Override
  49   protected boolean isFinished() {
  50     return false;
  51   }
  52
  53   @Override
  54   protected void end() {
  55
  56   }
  57
  58   @Override
  59   protected void interrupted() {
  60     end();
  61   }
  62 }