add precondition and Timeout to Expel and Intake commands

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

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

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

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

/***
 * This command is intended to be run from OI using button.whileHeld(...).
 * It lowers the defenseArm continually while the button is being held down.
 * 
 * @author shaina
 *
 */
public class LowerDefenseArmContinuous extends Command {

  private double speed;

  public LowerDefenseArmContinuous(double speed) {
    requires(Robot.defenseArm);
    this.speed = -speed;
  }

  @Override
  protected void initialize() {
    Robot.defenseArm.setArmSpeed(speed);
  }

  @Override
  protected void execute() {
  }

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

  @Override
  protected void end() {
    Robot.defenseArm.setArmSpeed(0);
  }

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