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1 | package org.usfirst.frc.team3501.robot.commands; |
2 | ||
3 | import org.usfirst.frc.team3501.robot.Robot; | |
4 | ||
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5 | /*** |
6 | * This command will continually roll the rollers of the intake arm in the | |
7 | * outwards direction and stop the rollers once the command is canceled. | |
8 | * | |
9 | * pre-condition: This command must be called by a button with the method .whileHeld() in OI | |
10 | * | |
11 | * @author Lauren and Niyati | |
12 | * | |
13 | */ | |
14 | ||
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15 | import edu.wpi.first.wpilibj.command.Command; |
16 | ||
17 | public class ToggleBallRollerExpel extends Command { | |
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18 | |
19 | public ToggleBallRollerExpel() { | |
df77579b | 20 | requires(Robot.intakeArm); |
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21 | } |
22 | ||
23 | @Override | |
24 | protected void initialize() { | |
4692be1b | 25 | Robot.intakeArm.outputBall(); |
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26 | } |
27 | ||
28 | @Override | |
29 | protected void execute() { | |
30 | ||
31 | } | |
32 | ||
33 | @Override | |
34 | protected boolean isFinished() { | |
35 | return true; | |
36 | } | |
37 | ||
38 | @Override | |
39 | protected void end() { | |
1828f5f6 | 40 | Robot.intakeArm.stopRollers(); |
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41 | } |
42 | ||
43 | @Override | |
44 | protected void interrupted() { | |
1828f5f6 | 45 | end(); |
4e0d6389 | 46 | } |
4e0d6389 | 47 | } |