Delete timer from MaintainClimbedPosition

diff --git a/src/org/usfirst/frc/team3501/robot/Robot.java b/src/org/usfirst/frc/team3501/robot/Robot.java
index fe515f2af33bd6e9e03a913a68f82bf0d3cf7cc7..1cffcb01aeeeae61e0daaae4d795230bda22459f 100644 (file)
--- a/src/org/usfirst/frc/team3501/robot/Robot.java
+++ b/src/org/usfirst/frc/team3501/robot/Robot.java
@@ -19,6 +19,7 @@ public class Robot extends IterativeRobot {
     oi = OI.getOI();
     shooter = Shooter.getShooter();
     intake = Intake.getIntake();
+
   }
 
   public static DriveTrain getDriveTrain() {

diff --git a/src/org/usfirst/frc/team3501/robot/commands/climber/MaintainClimbedPosition.java b/src/org/usfirst/frc/team3501/robot/commands/climber/MaintainClimbedPosition.java
index 1ddde5938a49dd207d58285841d2e3d39a252dfa..88ca8e0904198a6a7f7eb4ca61bd81537ea6a56a 100644 (file)
--- a/src/org/usfirst/frc/team3501/robot/commands/climber/MaintainClimbedPosition.java
+++ b/src/org/usfirst/frc/team3501/robot/commands/climber/MaintainClimbedPosition.java
@@ -6,25 +6,23 @@ import org.usfirst.frc.team3501.robot.subsystems.DriveTrain;
 import edu.wpi.first.wpilibj.command.Command;
 
 /**
- * This command runs the winch at a specified speed and time in seconds when the
- * robot has completed the climb and when the button triggering it is pressed.
- * This command also makes the drive train motors run because the winch is
- * controlled by the drive train.
+ * This command runs the winch at a specified speed when the robot has completed
+ * the climb and when the button triggering it is pressed. This command also
+ * makes the drive train motors run because the winch is controlled by the drive
+ * train.
  *
  * pre-condition: This command is run by a button in OI. The robot must have
  * completed climbing.
  *
- * post-condition: Winch motor set to a specified speed for a specified time.
+ * post-condition: Winch motor set to a specified speed.
  *
  * @param motorVal
  *          value range is from -1 to 1
- * @param time
- *          in seconds
+ *
  * @author shivanighanta
  *
  */
 public class MaintainClimbedPosition extends Command {
-  private double time;
 
   /**
    * See JavaDoc comment in class for details
@@ -32,9 +30,8 @@ public class MaintainClimbedPosition extends Command {
    * @param time
    *          time in seconds to run the winch
    */
-  public MaintainClimbedPosition(double time) {
+  public MaintainClimbedPosition() {
     requires(Robot.getDriveTrain());
-    this.time = time;
   }
 
   @Override
@@ -50,7 +47,7 @@ public class MaintainClimbedPosition extends Command {
 
   @Override
   protected boolean isFinished() {
-    return timeSinceInitialized() >= time;
+    return false;
   }
 
   @Override

diff --git a/src/org/usfirst/frc/team3501/robot/commands/climber/RunWinch.java b/src/org/usfirst/frc/team3501/robot/commands/climber/RunWinch.java
index 7858384dac649f30555d40761e6fa52b6e09ebd5..0e980a49e3b3bb02ed2db8a95d6f866d568f893f 100644 (file)
--- a/src/org/usfirst/frc/team3501/robot/commands/climber/RunWinch.java
+++ b/src/org/usfirst/frc/team3501/robot/commands/climber/RunWinch.java
@@ -32,7 +32,7 @@ public class RunWinch extends Command {
    * @param time
    *          time in seconds to run the winch
    * @param motorVal
-   *          value range is frosm -1 to 1
+   *          value range is from -1 to 1
    */
   public RunWinch(double time, double motorVal) {
     requires(Robot.getDriveTrain());