challenge-bot.com Git - 3501/stronghold-2016/blob - src/org/usfirst/frc/team3501/robot/commands/IntakeBall.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 take a boulder into the robot if there is not a boulder
   9  * present inside already.
  10  *
  11  * pre-condition: A boulder is not present inside the robot.
  12  *
  13  * post-condition: A boulder is taken in from the field outside of the robot
  14  * into the robot.
  15  *
  16  * @author Lauren and Niyati
  17  *
  18  */
  19
  20 public class IntakeBall extends Command {
  21
  22   public IntakeBall() {
  23     requires(Robot.intakeArm);
  24   }
  25
  26   @Override
  27   protected void initialize() {
  28     if (!Robot.photogate.isBallPresent())
  29       Robot.intakeArm.intakeBall();
  30
  31   }
  32
  33   @Override
  34   protected void execute() {
  35
  36   }
  37
  38   @Override
  39   protected boolean isFinished() {
  40     return Robot.photogate.isBallPresent();
  41   }
  42
  43   @Override
  44   protected void end() {
  45     Robot.intakeArm.stopRollers();
  46
  47   }
  48
  49   @Override
  50   protected void interrupted() {
  51
  52   }
  53
  54 }