competition fixes

[3501/2017steamworks] / src / org / usfirst / frc / team3501 / robot / commands / climber / RunWinch.java

diff --git a/src/org/usfirst/frc/team3501/robot/commands/climber/RunWinch.java b/src/org/usfirst/frc/team3501/robot/commands/climber/RunWinch.java
index 5a76b5c182b377c6892b64c75572ca0857fa44ec..39149abb14fba12c4c77e24d5aaf2d694da20bf6 100644 (file)
--- a/src/org/usfirst/frc/team3501/robot/commands/climber/RunWinch.java
+++ b/src/org/usfirst/frc/team3501/robot/commands/climber/RunWinch.java
@@ -37,7 +37,7 @@ public class RunWinch extends Command {
    * @param motorVal
    *          value range is from -1 to 1
    */
-  public RunWinch(double time, double motorVal) {
+  public RunWinch() {
     requires(climber);
     this.time = time;
     this.motorVal = motorVal;
@@ -45,16 +45,18 @@ public class RunWinch extends Command {
 
   @Override
   protected void initialize() {
+    climber.setCANTalonsBrakeMode(climber.COAST_MODE);
   }
 
   @Override
   protected void execute() {
-    climber.setMotorValues(motorVal);
+    climber.setMotorValues(climber.CLIMBER_SPEED);
   }
 
   @Override
   protected boolean isFinished() {
-    return timeSinceInitialized() >= time;
+    // return timeSinceInitialized() >= time;
+    return false;
   }
 
   @Override