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 will run the winch motor continuously until the button
   9  * triggering it is released. This command also runs the drive train.
  10  *
  11  * pre-condition: This command must be run by a button in OI. The robot must be
  12  * attached to the rope.
  13  *
  14  * post-condition: Winch motor set to a specified speed.
  15  *
  16  * @param motorVal
  17  *          value range is from -1 to 1
  18  *
  19  * @author shivanighanta
  20  *
  21  */
  22 public class RunWinchContinuous extends Command {
  23   private double motorVal;
  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(double motorVal) {
  32     requires(Robot.getDriveTrain());
  33     this.motorVal = motorVal;
  34   }
  35
  36   @Override
  37   protected void initialize() {
  38     Robot.getDriveTrain().setMotorValues(motorVal, motorVal);
  39
  40   }
  41
  42   @Override
  43   protected void execute() {
  44
  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 }