import org.usfirst.frc.team3501.robot.Robot;
-import com.sun.glass.ui.Timer;
-
+import edu.wpi.first.wpilibj.Timer;
import edu.wpi.first.wpilibj.command.Command;
/**
- * This command runs the winch for a given motor value and time in seconds
+ * This command runs the winch at a specified speed and time in seconds when the
+ * button triggering it is pressed. This command also makes the drive train
+ * motors run because the winch is controlled by the drive train.
+ *
+ * pre-condition: This command is run by a button in OI. The robot must be
+ * attached to the rope.
+ *
+ * post-condition: Winch motor set to a specified speed for a specified time.
*
* @param motorVal
* value range is from -1 to 1
* @author shivanighanta
*
*/
+
public class RunWinch extends Command {
Timer timer;
private double time;
private double motorVal;
+ /**
+ * See JavaDoc comment in class for details
+ *
+ * @param time
+ * time in seconds to run the winch
+ * @param motorVal
+ * value range is from -1 to 1
+ */
public RunWinch(double time, double motorVal) {
- requires(Robot.getClimber());
+ requires(Robot.getDriveTrain());
+ timer = new Timer();
this.time = time;
this.motorVal = motorVal;
}
@Override
protected void initialize() {
timer.start();
- Robot.getClimber().setMotorValue(motorVal);
}
@Override
protected void execute() {
+ Robot.getDriveTrain().setMotorValues(motorVal, motorVal);
}
@Override
protected void end() {
- Robot.getClimber().stop();
+ Robot.getDriveTrain().stop();
}
@Override