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