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() {
19 System
.out
.println("toggled");
23 protected void execute() {
24 if (climber
.shouldBeClimbing
) {
25 climber
.setCANTalonsBrakeMode(climber
.COAST_MODE
);
26 climber
.setMotorValues(climbingSpeed
);
27 System
.out
.println("climbing");
29 climber
.setCANTalonsBrakeMode(climber
.BRAKE_MODE
);
31 System
.out
.println("braked");
32 /* Not sure if should have */
39 protected boolean isFinished() {
44 protected void end() {
45 climber
.shouldBeClimbing
= !climber
.shouldBeClimbing
;
46 System
.out
.println("ended");
50 protected void interrupted() {