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 makes the drive train motors run
  10  * 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  * @param motorVal
  18  *          value range is from -1 to 1
  19  *
  20  * @author shivanighanta
  21  *
  22  */
  23 public class RunWinchContinuous extends Command {
  24   private double motorVal;
  25
  26   /**
  27    * See JavaDoc comment in class for details
  28    *
  29    * @param motorVal
  30    *          value range is from -1 to 1
  31    */
  32   public RunWinchContinuous(double motorVal) {
  33     requires(Robot.getDriveTrain());
  34     this.motorVal = motorVal;
  35   }
  36
  37   @Override
  38   protected void initialize() {
  39     Robot.getDriveTrain().setMotorValues(motorVal, motorVal);
  40
  41   }
  42
  43   @Override
  44   protected void execute() {
  45
  46   }
  47
  48   @Override
  49   protected boolean isFinished() {
  50     return false;
  51   }
  52
  53   @Override
  54   protected void end() {
  55
  56   }
  57
  58   @Override
  59   protected void interrupted() {
  60     end();
  61   }
  62 }