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 import org.usfirst.frc.team3501.robot.subsystems.Intake;
   5
   6 import edu.wpi.first.wpilibj.command.Command;
   7
   8 /***
   9  *
  10  * Runs the intake continuously when button is pressed, and when button is not
  11  * pressed does not run.
  12  *
  13  * Intended to be run inside a .whileHeld() call on a button in OI
  14  *
  15  * @author Meeta
  16  *
  17  */
  18 public class RunIntakeContinuous extends Command {
  19   private Intake intake = Robot.getIntake();
  20
  21   private double previousMotorValue = 0;
  22   private double targetMotorValue = intake.INTAKE_SPEED;
  23
  24   public RunIntakeContinuous() {
  25     requires(intake);
  26   }
  27
  28   @Override
  29   protected boolean isFinished() {
  30     return false;
  31   }
  32
  33   // Called just before this Command runs the first time
  34   @Override
  35   protected void initialize() {
  36   }
  37
  38   // Called repeatedly when this Command is scheduled to run
  39   @Override
  40   protected void execute() {
  41     double motorValue = (6 * previousMotorValue + targetMotorValue) / 7;
  42     previousMotorValue = motorValue;
  43     intake.setSpeed(motorValue);
  44   }
  45
  46   // Called once after isFinished returns true
  47   @Override
  48   protected void end() {
  49     Robot.getIntake().stopIntake();
  50   }
  51
  52   // Called when another command which requires one or more of the same
  53   // subsystems is scheduled to run
  54   @Override
  55   protected void interrupted() {
  56     end();
  57   }
  58
  59 }