| 1 | package org.usfirst.frc.team3501.robot.commands.intakearm; |
| 2 | |
| 3 | import org.usfirst.frc.team3501.robot.Constants; |
| 4 | import org.usfirst.frc.team3501.robot.Robot; |
| 5 | |
| 6 | import edu.wpi.first.wpilibj.CANTalon; |
| 7 | import edu.wpi.first.wpilibj.command.Command; |
| 8 | |
| 9 | /*** |
| 10 | * This command runs the given motor (intended to be an intake arm motor) at the |
| 11 | * given speed momentarily. |
| 12 | * |
| 13 | * @author harel, garima |
| 14 | * |
| 15 | */ |
| 16 | |
| 17 | public class RunIntakeMotor extends Command { |
| 18 | CANTalon intakeMotor; |
| 19 | double motorSpeed; |
| 20 | |
| 21 | /*** |
| 22 | * @param intakeMotor |
| 23 | * Motor to run. |
| 24 | * @param motorSpeed |
| 25 | * Speed at which to run motor. Range is [-1,1] |
| 26 | */ |
| 27 | public RunIntakeMotor(CANTalon intakeMotor, double motorSpeed) { |
| 28 | requires(Robot.intakeArm); |
| 29 | this.intakeMotor = intakeMotor; |
| 30 | this.motorSpeed = motorSpeed; |
| 31 | } |
| 32 | |
| 33 | @Override |
| 34 | protected void initialize() { |
| 35 | intakeMotor.set(motorSpeed); |
| 36 | } |
| 37 | |
| 38 | @Override |
| 39 | protected void execute() { |
| 40 | |
| 41 | } |
| 42 | |
| 43 | @Override |
| 44 | protected boolean isFinished() { |
| 45 | return true; |
| 46 | } |
| 47 | |
| 48 | @Override |
| 49 | protected void end() { |
| 50 | intakeMotor.set(Constants.IntakeArm.STOP_INTAKE_ARM_SPEED); |
| 51 | } |
| 52 | |
| 53 | @Override |
| 54 | protected void interrupted() { |
| 55 | end(); |
| 56 | } |
| 57 | } |