package org.usfirst.frc.team3501.robot.commands.climber;
+import org.usfirst.frc.team3501.robot.Robot;
+
import edu.wpi.first.wpilibj.command.Command;
/**
- * Runs the winch continuously at a given motor value
+<<<<<<< HEAD
+ * <<<<<<< HEAD <<<<<<< 1b45bc927675060d057730fc7c7083fb9d813f66 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 will
+ * run the winch motor continuously until the button triggering it is released.
+ * This command also runs the drive train. >>>>>>> Delete StopWinch and Climber
+ * subsystem, edit javadoc comments ======= <<<<<<<
+ * 1b45bc927675060d057730fc7c7083fb9d813f66 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 will run the winch motor
+ * continuously until the button triggering it is released. This command also
+ * runs the drive train. >>>>>>> Delete StopWinch and Climber subsystem, edit
+ * javadoc comments >>>>>>> Delete StopWinch and Climber subsystem, edit javadoc
+ * comments
+=======
+ * <<<<<<< 1b45bc927675060d057730fc7c7083fb9d813f66 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 will run the
+ * winch motor continuously until the button triggering it is released. This
+ * command also runs the drive train. >>>>>>> Delete StopWinch and Climber
+ * subsystem, edit javadoc comments
+>>>>>>> Fix merging errors with climber subclass
+ *
+ * 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.
*
* @author shivanighanta
*
public class RunWinchContinuous extends Command {
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.getDriveTrain());
this.motorVal = motorVal;
}
@Override
protected void initialize() {
+ Robot.getDriveTrain().setMotorValues(motorVal, motorVal);
}
@Override
@Override
protected void interrupted() {
+ end();
}
}