challenge-bot.com Git - 3501/2017steamworks/blob - src/org/usfirst/frc/team3501/robot/commands/intake/ReverseIntake.java

   1 package org.usfirst.frc.team3501.robot.commands.intake;
   2
   3 import org.usfirst.frc.team3501.robot.Robot;
   4
   5 import edu.wpi.first.wpilibj.Timer;
   6 import edu.wpi.first.wpilibj.command.Command;
   7
   8 /**
   9  * Reverses the intake roller for a specified amount of time in seconds
  10  *
  11  * parameters: time to run intake
  12  */
  13 public class ReverseIntake extends Command {
  14   private double timeToMove;
  15   public Timer timer;
  16
  17   public ReverseIntake(double timeToMove) {
  18     requires(Robot.getIntake());
  19     timer = new Timer();
  20     this.timeToMove = timeToMove;
  21   }
  22
  23   // Called just before this Command runs the first time
  24   @Override
  25   protected void initialize() {
  26     timer.start();
  27   }
  28
  29   // Called repeatedly when this Command is scheduled to run
  30   @Override
  31   protected void execute() {
  32     Robot.getIntake().runReverseIntake();
  33   }
  34
  35   // Make this return true when this Command no longer needs to run execute()
  36   @Override
  37   protected boolean isFinished() {
  38     return timer.get() >= timeToMove;
  39   }
  40
  41   // Called once after isFinished returns true
  42   @Override
  43   protected void end() {
  44     Robot.getIntake().stopIntake();
  45   }
  46
  47   // Called when another command which requires one or more of the same
  48   // subsystems is scheduled to run
  49   @Override
  50   protected void interrupted() {
  51     end();
  52   }
  53 }