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d0fb1889 ME |
1 | package org.usfirst.frc.team3501.robot.commands.intakearm; |
2 | ||
3 | import org.usfirst.frc.team3501.robot.Robot; | |
4 | ||
5 | import edu.wpi.first.wpilibj.Timer; | |
6 | import edu.wpi.first.wpilibj.command.Command; | |
7 | ||
8 | /** | |
9 | * | |
10 | */ | |
11 | public class TimeRunIntake extends Command { | |
12 | Timer timer; | |
13 | private double time; | |
14 | ||
15 | public TimeRunIntake(double time) { | |
16 | timer = new Timer(); | |
17 | this.time = time; | |
18 | } | |
19 | ||
20 | @Override | |
21 | protected void initialize() { | |
22 | timer.start(); | |
23 | Robot.intakeArm.intakeBall(); | |
24 | } | |
25 | ||
26 | @Override | |
27 | protected void execute() { | |
28 | } | |
29 | ||
30 | @Override | |
31 | protected boolean isFinished() { | |
32 | return timer.get() >= time; | |
33 | } | |
34 | ||
35 | @Override | |
36 | protected void end() { | |
5aa7457a | 37 | Robot.intakeArm.stopRollers(); |
d0fb1889 ME |
38 | } |
39 | ||
40 | @Override | |
41 | protected void interrupted() { | |
42 | end(); | |
43 | } | |
44 | } |