implement tank drive and toggle winch

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

diff --git a/src/org/usfirst/frc/team3501/robot/commands/climber/ToggleWinch.java b/src/org/usfirst/frc/team3501/robot/commands/climber/ToggleWinch.java
new file mode 100644 (file)
index 0000000..47e464c
--- /dev/null
+++ b/src/org/usfirst/frc/team3501/robot/commands/climber/ToggleWinch.java
@@ -0,0 +1,46 @@
+package org.usfirst.frc.team3501.robot.commands.climber;
+
+import org.usfirst.frc.team3501.robot.Robot;
+import org.usfirst.frc.team3501.robot.subsystems.Climber;
+
+import edu.wpi.first.wpilibj.command.Command;
+
+public class ToggleWinch extends Command {
+  Climber climber = Robot.getClimber();
+  private double climbingSpeed;
+
+  public ToggleWinch() {
+    requires(climber);
+    climbingSpeed = climber.CLIMBER_SPEED;
+  }
+
+  @Override
+  protected void initialize() {
+  }
+
+  @Override
+  protected void execute() {
+    if (climber.shouldBeClimbing) {
+      climber.setCANTalonsBrakeMode(climber.COAST_MODE);
+      climber.setMotorValues(climbingSpeed);
+    } else {
+      climber.setCANTalonsBrakeMode(climber.BRAKE_MODE);
+      end();
+    }
+  }
+
+  @Override
+  protected boolean isFinished() {
+    return false;
+  }
+
+  @Override
+  protected void end() {
+    climber.shouldBeClimbing = !climber.shouldBeClimbing;
+  }
+
+  @Override
+  protected void interrupted() {
+    end();
+  }
+}