X-Git-Url: http://challenge-bot.com/repos/?p=3501%2F2017steamworks;a=blobdiff_plain;f=src%2Forg%2Fusfirst%2Ffrc%2Fteam3501%2Frobot%2Fcommands%2Fclimber%2FToggleWinch.java;fp=src%2Forg%2Fusfirst%2Ffrc%2Fteam3501%2Frobot%2Fcommands%2Fclimber%2FToggleWinch.java;h=47e464c9f7b34ecdbd53e7e15948c9287abd9a47;hp=0000000000000000000000000000000000000000;hb=ba9f0b126afd5973b11a22dd6640d8d6f0822f5a;hpb=150f450f2b4f9e6094d71007507a7b877e05328a

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
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();
+  }
+}