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