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 <<<<<<< HEAD
   9  * <<<<<<< HEAD <<<<<<< 1b45bc927675060d057730fc7c7083fb9d813f66 This command
  10  * runs the winch motor continuously at a specified speed until the button
  11  * triggering it is released. This command also makes the drive train motors run
  12  * because the winch is controlled by the drive train. ======= This command will
  13  * run the winch motor continuously until the button triggering it is released.
  14  * This command also runs the drive train. >>>>>>> Delete StopWinch and Climber
  15  * subsystem, edit javadoc comments ======= <<<<<<<
  16  * 1b45bc927675060d057730fc7c7083fb9d813f66 This command runs the winch motor
  17  * continuously at a specified speed until the button triggering it is released.
  18  * This command also makes the drive train motors run because the winch is
  19  * controlled by the drive train. ======= This command will run the winch motor
  20  * continuously until the button triggering it is released. This command also
  21  * runs the drive train. >>>>>>> Delete StopWinch and Climber subsystem, edit
  22  * javadoc comments >>>>>>> Delete StopWinch and Climber subsystem, edit javadoc
  23  * comments
  24 =======
  25  * <<<<<<< 1b45bc927675060d057730fc7c7083fb9d813f66 This command runs the winch
  26  * motor continuously at a specified speed until the button triggering it is
  27  * released. This command also makes the drive train motors run because the
  28  * winch is controlled by the drive train. ======= This command will run the
  29  * winch motor continuously until the button triggering it is released. This
  30  * command also runs the drive train. >>>>>>> Delete StopWinch and Climber
  31  * subsystem, edit javadoc comments
  32 >>>>>>> Fix merging errors with climber subclass
  33  *
  34  * pre-condition: This command must be run by a button in OI. The robot must be
  35  * attached to the rope.
  36  *
  37  * post-condition: Winch motor set to a specified speed.
  38  *
  39  * @author shivanighanta
  40  *
  41  */
  42 public class RunWinchContinuous extends Command {
  43   private double motorVal;
  44
  45   /**
  46    * See JavaDoc comment in class for details
  47    *
  48    * @param motorVal
  49    *          value range is from -1 to 1
  50    */
  51   public RunWinchContinuous(double motorVal) {
  52     requires(Robot.getDriveTrain());
  53     this.motorVal = motorVal;
  54   }
  55
  56   @Override
  57   protected void initialize() {
  58     Robot.getDriveTrain().setMotorValues(motorVal, motorVal);
  59   }
  60
  61   @Override
  62   protected void execute() {
  63
  64   }
  65
  66   @Override
  67   protected boolean isFinished() {
  68     return false;
  69   }
  70
  71   @Override
  72   protected void end() {
  73
  74   }
  75
  76   @Override
  77   protected void interrupted() {
  78     end();
  79   }
  80 }