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.
  11  *
  12  * @author Meeta
  13  *
  14  */
  15 public class RunIntakeContinuous extends Command {
  16   // create setter method for speed, use setSpeed method to do end() by setting
  17   // speed to 0
  18
  19   public RunIntakeContinuous() {
  20     requires(Robot.getIntake());
  21   }
  22
  23   @Override
  24   protected boolean isFinished() {
  25     // TODO Auto-generated method stub
  26     return true;
  27   }
  28
  29   // Called just before this Command runs the first time
  30   @Override
  31   protected void initialize() {
  32
  33   }
  34
  35   // Called repeatedly when this Command is scheduled to run
  36   @Override
  37   protected void execute() {
  38     Robot.getIntake().setSpeed(Robot.getIntake().INTAKE_SPEED);
  39   }
  40
  41   // Called once after isFinished returns true
  42   @Override
  43   protected void end() {
  44     Intake.intake.setSpeed(0);
  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
  54 }