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
  22   DriveTrain driveTrain = Robot.getDriveTrain();
  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(driveTrain);
  33     climbingSpeed = driveTrain.CLIMBER_SPEED;
  34     requires(Robot.getDriveTrain());
  35     requires(driveTrain);
  36   }
  37
  38   @Override
  39   protected void initialize() {
  40   }
  41
  42   @Override
  43   protected void execute() {
  44     Robot.getDriveTrain().setMotorValues(climbingSpeed, climbingSpeed);
  45   }
  46
  47   @Override
  48   protected boolean isFinished() {
  49     return false;
  50   }
  51
  52   @Override
  53   protected void end() {
  54
  55   }
  56
  57   @Override
  58   protected void interrupted() {
  59     end();
  60   }
  61 }