X-Git-Url: http://challenge-bot.com/repos/?p=3501%2F2017steamworks;a=blobdiff_plain;f=src%2Forg%2Fusfirst%2Ffrc%2Fteam3501%2Frobot%2Fcommands%2Fclimber%2FRunWinchContinuous.java;h=664b201643b113a16b7944a1223d541b3bcb5ee3;hp=a3e6f3f2d06afdcb881cf1b69cc2eaac152b4ad1;hb=8275a069e1891bd27156dcd947a897519c42a3a3;hpb=e74e5e9dbc8136a693c367596e839c91722d11ca

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 a3e6f3f..664b201 100644
--- a/src/org/usfirst/frc/team3501/robot/commands/climber/RunWinchContinuous.java
+++ b/src/org/usfirst/frc/team3501/robot/commands/climber/RunWinchContinuous.java
@@ -1,36 +1,26 @@
 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.subsystems.Climber;
 
 import edu.wpi.first.wpilibj.command.Command;
 
 /**
- * <<<<<<< 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
+ * 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.
+ * post-condition: Drive train motors set to a specified speed.
  *
  * @author shivanighanta
  *
  */
 public class RunWinchContinuous extends Command {
-  private double motorVal;
+  Climber climber = Robot.getClimber();
+  private double climbingSpeed;
 
   /**
    * See JavaDoc comment in class for details
@@ -38,19 +28,19 @@ public class RunWinchContinuous extends Command {
    * @param motorVal
    *          value range is from -1 to 1
    */
-  public RunWinchContinuous(double motorVal) {
-    requires(Robot.getDriveTrain());
-    this.motorVal = motorVal;
+  public RunWinchContinuous() {
+    requires(climber);
+    climbingSpeed = climber.CLIMBER_SPEED;
   }
 
   @Override
   protected void initialize() {
-    Robot.getDriveTrain().setMotorValues(motorVal, motorVal);
   }
 
   @Override
   protected void execute() {
-
+    double thrust = OI.xboxController.getY();
+    climber.setMotorValues(-thrust);
   }
 
   @Override
@@ -60,7 +50,7 @@ public class RunWinchContinuous extends Command {
 
   @Override
   protected void end() {
-
+    climber.stop();
   }
 
   @Override