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Saved
[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 f99af49e64ae56fd4ec860e9438cbf6353eb3029..664b201643b113a16b7944a1223d541b3bcb5ee3 100644
(file)
--- a/
src/org/usfirst/frc/team3501/robot/commands/climber/RunWinchContinuous.java
+++ b/
src/org/usfirst/frc/team3501/robot/commands/climber/RunWinchContinuous.java
@@
-1,55
+1,56
@@
package org.usfirst.frc.team3501.robot.commands.climber;
package org.usfirst.frc.team3501.robot.commands.climber;
+import org.usfirst.frc.team3501.robot.OI;
import org.usfirst.frc.team3501.robot.Robot;
import org.usfirst.frc.team3501.robot.Robot;
+import org.usfirst.frc.team3501.robot.subsystems.Climber;
import edu.wpi.first.wpilibj.command.Command;
/**
import edu.wpi.first.wpilibj.command.Command;
/**
- * This command
will run the winch motor continuously until the button
- *
triggering it is released.
+ * 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.
- *
- * @param motorVal
- * value range is from -1 to 1
+ * post-condition: Drive train motors set to a specified speed.
*
* @author shivanighanta
*
*/
public class RunWinchContinuous extends Command {
*
* @author shivanighanta
*
*/
public class RunWinchContinuous extends Command {
- private double motorVal;
+ Climber climber = Robot.getClimber();
+ private double climbingSpeed;
/**
/**
- *
+ * See JavaDoc comment in class for details
+ *
* @param motorVal
* @param motorVal
+ * value range is from -1 to 1
*/
*/
- public RunWinchContinuous(
double motorVal
) {
- requires(
Robot.getClimber()
);
-
this.motorVal = motorVal
;
+ public RunWinchContinuous() {
+ requires(
climber
);
+
climbingSpeed = climber.CLIMBER_SPEED
;
}
@Override
protected void initialize() {
}
@Override
protected void initialize() {
- Robot.getClimber().setMotorValue(motorVal);
-
}
@Override
protected void execute() {
}
@Override
protected void execute() {
-
+ double thrust = OI.xboxController.getY();
+ climber.setMotorValues(-thrust);
}
@Override
protected boolean isFinished() {
}
@Override
protected boolean isFinished() {
- return
!Robot.getOI().toggleWinch.get()
;
+ return
false
;
}
@Override
protected void end() {
}
@Override
protected void end() {
-
Robot.getClimber()
.stop();
+
climber
.stop();
}
@Override
}
@Override