Add JoystickButton objects and constants for Drivetrain, Climer, Intake, and Shooter

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

diff --git a/src/org/usfirst/frc/team3501/robot/commands/climber/RunWinchContinuous.java b/src/org/usfirst/frc/team3501/robot/commands/climber/RunWinchContinuous.java
index 959dd37b8fcdaa54c8de6693de7a73a40d4da025..65277997b70fd20ccad3d85fbe60b2b5a8eb23c1 100644 (file)
--- a/src/org/usfirst/frc/team3501/robot/commands/climber/RunWinchContinuous.java
+++ b/src/org/usfirst/frc/team3501/robot/commands/climber/RunWinchContinuous.java
@@ -5,20 +5,18 @@ import org.usfirst.frc.team3501.robot.Robot;
 import edu.wpi.first.wpilibj.command.Command;
 
 /**
- * This command runs the winch motor continuously at a specified speed until the
- * button triggering it is released. This command also makes the drive train
- * motors run because the winch is controlled by the drive train.
+ * This command runs the drive train motors (which runs the winch) continuously
+ * at a specified speed until the button triggering it is released
  *
- * pre-condition: This command must be run by a button in OI. The robot must be
- * attached to the rope.
+ * pre-condition: This command must be run by a button in OI with
+ * button.whileHeld(...). The robot must be attached to the rope.
  *
- * post-condition: Winch motor set to a specified speed.
+ * post-condition: Drive train motors set to a specified speed.
  *
  * @author shivanighanta
  *
  */
 public class RunWinchContinuous extends Command {
-  private double motorVal;
 
   /**
    * See JavaDoc comment in class for details
@@ -26,14 +24,15 @@ public class RunWinchContinuous extends Command {
    * @param motorVal
    *          value range is from -1 to 1
    */
-  public RunWinchContinuous(double motorVal) {
+  public RunWinchContinuous() {
     requires(Robot.getDriveTrain());
-    this.motorVal = motorVal;
   }
 
   @Override
   protected void initialize() {
-    Robot.getDriveTrain().setMotorValues(motorVal, motorVal);
+    Robot.getDriveTrain().setMotorValues(
+        Robot.getDriveTrain().getClimbingSpeed(),
+        Robot.getDriveTrain().getClimbingSpeed());
   }
 
   @Override
@@ -43,7 +42,7 @@ public class RunWinchContinuous extends Command {
 
   @Override
   protected boolean isFinished() {
-    return !Robot.getOI().toggleWinch.get();
+    return false;
   }
 
   @Override