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  * @author shivanighanta
  12  *
  13  */
  14 public class RunWinchContinuous extends Command {
  15   private double motorVal;
  16
  17   public RunWinchContinuous(double motorVal) {
  18     this.motorVal = motorVal;
  19   }
  20
  21   @Override
  22   protected void initialize() {
  23     Robot.getClimber().setMotorValue(motorVal);
  24
  25   }
  26
  27   @Override
  28   protected void execute() {
  29
  30   }
  31
  32   @Override
  33   protected boolean isFinished() {
  34     return !Robot.getOI().toggleWinch.get();
  35   }
  36
  37   @Override
  38   protected void end() {
  39     Robot.getClimber().stop();
  40   }
  41
  42   @Override
  43   protected void interrupted() {
  44     end();
  45   }
  46 }