challenge-bot.com Git - 3501/2017steamworks/blob - src/org/usfirst/frc/team3501/robot/commands/shooter/RunIndexWheelContinuous.java

   1 package org.usfirst.frc.team3501.robot.commands.shooter;
   2
   3 import org.usfirst.frc.team3501.robot.Robot;
   4
   5 import edu.wpi.first.wpilibj.command.Command;
   6
   7 /**
   8  * This command will run the index wheel motor continuously until the button
   9  * triggering it is released.
  10  *
  11  * pre-condition: This command must be run by a button in OI with
  12  * button.whileHeld(...).
  13  *
  14  * @author Shaina
  15  */
  16 public class RunIndexWheelContinuous extends Command {
  17   private double motorVal;
  18
  19   /**
  20    * See JavaDoc comment in class for details
  21    *
  22    * @param motorVal
  23    *          value range from -1 to 1
  24    */
  25   public RunIndexWheelContinuous(double motorVal) {
  26     this.motorVal = motorVal;
  27   }
  28
  29   // Called just before this Command runs the first time
  30   @Override
  31   protected void initialize() {
  32     Robot.getShooter().setIndexWheelMotorVal(motorVal);
  33   }
  34
  35   // Called repeatedly when this Command is scheduled to run
  36   @Override
  37   protected void execute() {
  38   }
  39
  40   // Called once after isFinished returns true
  41   @Override
  42   protected void end() {
  43   }
  44
  45   // Called when another command which requires one or more of the same
  46   // subsystems is scheduled to run
  47   @Override
  48   protected void interrupted() {
  49     end();
  50   }
  51
  52   @Override
  53   protected boolean isFinished() {
  54     return false;
  55   }
  56
  57 }