add precondition and Timeout to Expel and Intake commands

[3501/stronghold-2016] / src / org / usfirst / frc / team3501 / robot / commands / ClampBar.java

package org.usfirst.frc.team3501.robot.commands;

import org.usfirst.frc.team3501.robot.Robot;

import edu.wpi.first.wpilibj.command.Command;

public class ClampBar extends Command {
  private double secondsToClamp = 2.0; // seconds for the winch to run in order
                                       // for it to clamp(requires testing)
  private double winchSpeed = 0.5; // requires testing

  public ClampBar() {
  }

  @Override
  protected void initialize() {
    setTimeout(secondsToClamp);
    Robot.scaler.runWinch(winchSpeed);
  }

  @Override
  protected void execute() {
  }

  @Override
  protected boolean isFinished() {
    return isTimedOut();
  }

  @Override
  protected void end() {
    Robot.scaler.runWinch(0);
  }

  @Override
  protected void interrupted() {
    end();
  }
}