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  * @author Meeta
  14  *
  15  */
  16 public class RunIntakeContinuous extends Command {
  17   // create setter method for speed, use setSpeed method to do end() by setting
  18   // speed to 0
  19
  20   public RunIntakeContinuous() {
  21     requires(Robot.getIntake());
  22   }
  23
  24   @Override
  25   protected boolean isFinished() {
  26     // TODO Auto-generated method stub
  27     return true;
  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().setSpeed(Robot.getIntake().INTAKE_SPEED);
  40   }
  41
  42   // Called once after isFinished returns true
  43   @Override
  44   protected void end() {
  45     Intake.intake.setSpeed(0);
  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 }