import edu.wpi.first.wpilibj.command.Command;
/**
- * This command will run the winch motor continuously until the button
- * triggering it is released.
+ * <<<<<<< 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
*
* 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
- *
* @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.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