challenge-bot.com Git - 3501/stronghold-2016/blob - src/org/usfirst/frc/team3501/robot/commands/BallRollerExpelContinuous.java

   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
   7 /***
   8  * This command will continually roll the rollers of the intake arm in the
   9  * outwards direction and stop the rollers once the command is canceled.
  10  *
  11  * pre-condition: This command must be called by a button with the method
  12  * .whileHeld() in OI
  13  *
  14  * @author Lauren and Niyati
  15  *
  16  */
  17
  18 public class BallRollerExpelContinuous extends Command {
  19
  20   public BallRollerExpelContinuous() {
  21     requires(Robot.intakeArm);
  22   }
  23
  24   @Override
  25   protected void initialize() {
  26     Robot.intakeArm.outputBall();
  27   }
  28
  29   @Override
  30   protected void execute() {
  31
  32   }
  33
  34   @Override
  35   protected boolean isFinished() {
  36     return true;
  37   }
  38
  39   @Override
  40   protected void end() {
  41     Robot.intakeArm.stopRollers();
  42   }
  43
  44   @Override
  45   protected void interrupted() {
  46     end();
  47   }
  48 }