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Delete timer from MaintainClimbedPosition
author
Shivani Ghanta
<shivani.oghanta@gmail.com>
Tue, 31 Jan 2017 04:44:29 +0000
(20:44 -0800)
committer
Cindy Zhang
<cindyzyx9@gmail.com>
Sat, 4 Feb 2017 19:10:35 +0000
(11:10 -0800)
src/org/usfirst/frc/team3501/robot/Robot.java
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src/org/usfirst/frc/team3501/robot/commands/climber/MaintainClimbedPosition.java
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src/org/usfirst/frc/team3501/robot/commands/climber/RunWinch.java
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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();
oi = OI.getOI();
shooter = Shooter.getShooter();
intake = Intake.getIntake();
+
}
public static DriveTrain getDriveTrain() {
}
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;
/**
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.
*
*
* 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 motorVal
* value range is from -1 to 1
- * @param time
- * in seconds
+ *
* @author shivanighanta
*
*/
public class MaintainClimbedPosition extends Command {
* @author shivanighanta
*
*/
public class MaintainClimbedPosition extends Command {
- private double time;
/**
* See JavaDoc comment in class for details
/**
* 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
*/
* @param time
* time in seconds to run the winch
*/
- public MaintainClimbedPosition(
double time
) {
+ public MaintainClimbedPosition() {
requires(Robot.getDriveTrain());
requires(Robot.getDriveTrain());
- this.time = time;
}
@Override
}
@Override
@@
-50,7
+47,7
@@
public class MaintainClimbedPosition extends Command {
@Override
protected boolean isFinished() {
@Override
protected boolean isFinished() {
- return
timeSinceInitialized() >= tim
e;
+ return
fals
e;
}
@Override
}
@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
* @param time
* time in seconds to run the winch
* @param motorVal
- * value range is fro
s
m -1 to 1
+ * value range is from -1 to 1
*/
public RunWinch(double time, double motorVal) {
requires(Robot.getDriveTrain());
*/
public RunWinch(double time, double motorVal) {
requires(Robot.getDriveTrain());