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