47e464c9f7b34ecdbd53e7e15948c9287abd9a47
1 package org
.usfirst
.frc
.team3501
.robot
.commands
.climber
;
3 import org
.usfirst
.frc
.team3501
.robot
.Robot
;
4 import org
.usfirst
.frc
.team3501
.robot
.subsystems
.Climber
;
6 import edu
.wpi
.first
.wpilibj
.command
.Command
;
8 public class ToggleWinch
extends Command
{
9 Climber climber
= Robot
.getClimber();
10 private double climbingSpeed
;
12 public ToggleWinch() {
14 climbingSpeed
= climber
.CLIMBER_SPEED
;
18 protected void initialize() {
22 protected void execute() {
23 if (climber
.shouldBeClimbing
) {
24 climber
.setCANTalonsBrakeMode(climber
.COAST_MODE
);
25 climber
.setMotorValues(climbingSpeed
);
27 climber
.setCANTalonsBrakeMode(climber
.BRAKE_MODE
);
33 protected boolean isFinished() {
38 protected void end() {
39 climber
.shouldBeClimbing
= !climber
.shouldBeClimbing
;
43 protected void interrupted() {