add claw toggle and winch tensioning

[3501/3501-spark-go] / src / org / usfirst / frc / team3501 / robot / commands / TensionLeftWinch.java

diff --git a/src/org/usfirst/frc/team3501/robot/commands/TensionLeftWinch.java b/src/org/usfirst/frc/team3501/robot/commands/TensionLeftWinch.java
new file mode 100644 (file)
index 0000000..4d9712c
--- /dev/null
+++ b/src/org/usfirst/frc/team3501/robot/commands/TensionLeftWinch.java
@@ -0,0 +1,21 @@
+package org.usfirst.frc.team3501.robot.commands;
+
+public class TensionLeftWinch extends CommandBase {
+
+    private double speed;
+
+    public TensionLeftWinch(double speed) {
+        super("TensionLeftWinch");
+        requires(arm);
+
+        this.speed = speed;
+    }
+
+    protected void execute() {
+        arm.moveLeft(speed);
+    }
+
+    protected boolean isFinished() {
+        return true;
+    }
+}