challenge-bot.com Git - 3501/2017steamworks/blob - src/org/usfirst/frc/team3501/robot/commands/intake/RunIntakeContinuous.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  *
   9  * Runs the intake continuously when button is pressed, and when button is not
  10  * pressed does not run.
  11  *
  12  * Intended to be run inside a .whileHeld() call on a button in OI
  13  *
  14  * @author Meeta
  15  *
  16  */
  17 public class RunIntakeContinuous extends Command {
  18   // create setter method for speed, use setSpeed method to do end() by setting
  19   // speed to 0
  20
  21   public RunIntakeContinuous() {
  22     requires(Robot.getIntake());
  23   }
  24
  25   @Override
  26   protected boolean isFinished() {
  27     return false;
  28   }
  29
  30   // Called just before this Command runs the first time
  31   @Override
  32   protected void initialize() {
  33
  34   }
  35
  36   // Called repeatedly when this Command is scheduled to run
  37   @Override
  38   protected void execute() {
  39     Robot.getIntake().runIntake();
  40   }
  41
  42   // Called once after isFinished returns true
  43   @Override
  44   protected void end() {
  45     Robot.getIntake().stopIntake();
  46   }
  47
  48   // Called when another command which requires one or more of the same
  49   // subsystems is scheduled to run
  50   @Override
  51   protected void interrupted() {
  52     end();
  53   }
  54
  55 }