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.
*
- * 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
*
private double motorVal;
/**
- *
+ * See JavaDoc comment in class for details
+ *
* @param motorVal
+ * value range is from -1 to 1
*/
public RunWinchContinuous(double motorVal) {
- requires(Robot.getClimber());
+ requires(Robot.getDriveTrain());
this.motorVal = motorVal;
}
@Override
protected void initialize() {
- Robot.getClimber().setMotorValue(motorVal);
-
+ Robot.getDriveTrain().setMotorValues(motorVal, motorVal);
}
@Override
@Override
protected boolean isFinished() {
- return !Robot.getOI().toggleWinch.get();
+ return false;
}
@Override
protected void end() {
- Robot.getClimber().stop();
+
}
@Override