challenge-bot.com Git - 3501/2017steamworks/blob - src/org/usfirst/frc/team3501/robot/commands/intake/ReverseIntakeContinuous.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.command.Command;
   6
   7 /**
   8  * Reverses the intake until the button triggering this command is released
   9  *
  10  * pre-condition: button is pressed
  11  */
  12 public class ReverseIntakeContinuous extends Command {
  13
  14   public ReverseIntakeContinuous() {
  15     requires(Robot.getIntake());
  16   }
  17
  18   // Called just before this Command runs the first time
  19   @Override
  20   protected void initialize() {
  21     Robot.getIntake().runReverseIntake();
  22
  23   }
  24
  25   // Called repeatedly when this Command is scheduled to run
  26   @Override
  27   protected void execute() {
  28
  29   }
  30
  31   // Make this return true when this Command no longer needs to run execute()
  32   @Override
  33   protected boolean isFinished() {
  34     return false;
  35   }
  36
  37   // Called once after isFinished returns true
  38   @Override
  39   protected void end() {
  40     Robot.getIntake().stopIntake();
  41   }
  42
  43   // Called when another command which requires one or more of the same
  44   // subsystems is scheduled to run
  45   @Override
  46   protected void interrupted() {
  47     end();
  48   }
  49 }