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1 | package org.usfirst.frc.team3501.robot.commands; |
2 | ||
3 | import org.usfirst.frc.team3501.robot.Robot; | |
4 | ||
5 | import edu.wpi.first.wpilibj.command.Command; | |
6 | ||
5a3fcb1c | 7 | /*** |
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8 | * This command will run the winch motor continuously until the button |
9 | * tirggering it is released. | |
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10 | * |
11 | * pre-condition: This command must be run by a button in OI with method | |
a7160a69 | 12 | * whileHeld(). The robot must be attached to the tower rung. |
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13 | * |
14 | * post-condition: winch motor set to a specified speed. | |
15 | * | |
d4649cd7 | 16 | * @author Lauren |
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17 | * |
18 | */ | |
19 | ||
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20 | public class RunWinchContinuous extends Command { |
21 | private final double STOP_SPEED = 0.0; | |
22 | private double winchUpSpeed; | |
0d4d5dcb | 23 | |
a7160a69 | 24 | public RunWinchContinuous(double speed) { |
0ecbf4af | 25 | requires(Robot.scaler); |
0d4d5dcb | 26 | winchUpSpeed = speed; |
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27 | } |
28 | ||
29 | @Override | |
30 | protected void initialize() { | |
31 | Robot.scaler.runWinch(winchUpSpeed); | |
32 | } | |
33 | ||
34 | @Override | |
35 | protected void execute() { | |
36 | } | |
37 | ||
38 | @Override | |
39 | protected boolean isFinished() { | |
40 | return true; | |
41 | } | |
42 | ||
43 | @Override | |
44 | protected void end() { | |
a7160a69 | 45 | Robot.scaler.runWinch(STOP_SPEED); |
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46 | } |
47 | ||
48 | @Override | |
49 | protected void interrupted() { | |
a7160a69 | 50 | end(); |
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51 | } |
52 | } |