challenge-bot.com Git - 3501/stronghold-2016/blob - src/org/usfirst/frc/team3501/robot/commands/ExpelBall.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 expel a boulder from the robot, if it is even present to
   9  * begin with.
  10  *
  11  * pre-condition: Intake arm is at correct height and a boulder is present
  12  * inside the robot.
  13  *
  14  * post-condition: A boulder is expelled from inside the robot to the field
  15  * outside of the robot.
  16  *
  17  * @author Lauren and Niyati
  18  *
  19  */
  20
  21 public class ExpelBall extends Command {
  22   private final int TIMEOUT_AMOUNT = 5;
  23
  24   public ExpelBall() {
  25     requires(Robot.intakeArm);
  26   }
  27
  28   @Override
  29   protected void initialize() {
  30     this.setTimeout(TIMEOUT_AMOUNT);
  31     if (Robot.photogate.isBallPresent())
  32       Robot.intakeArm.outputBall();
  33   }
  34
  35   @Override
  36   protected void execute() {
  37   }
  38
  39   @Override
  40   protected boolean isFinished() {
  41     return (this.isTimedOut() || !Robot.photogate.isBallPresent());
  42   }
  43
  44   @Override
  45   protected void end() {
  46     Robot.intakeArm.stopRollers();
  47   }
  48
  49   @Override
  50   protected void interrupted() {
  51
  52   }
  53
  54 }