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