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.
  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   public RunWinchContinuous(double motorVal) {
  26     requires(Robot.getClimber());
  27     this.motorVal = motorVal;
  28   }
  29
  30   @Override
  31   protected void initialize() {
  32     Robot.getClimber().setMotorValue(motorVal);
  33
  34   }
  35
  36   @Override
  37   protected void execute() {
  38
  39   }
  40
  41   @Override
  42   protected boolean isFinished() {
  43     return !Robot.getOI().toggleWinch.get();
  44   }
  45
  46   @Override
  47   protected void end() {
  48     Robot.getClimber().stop();
  49   }
  50
  51   @Override
  52   protected void interrupted() {
  53     end();
  54   }
  55 }