challenge-bot.com Git - 3501/stronghold-2016/blob - src/org/usfirst/frc/team3501/robot/commands/SetWinchSpeed.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 set the winch motor to a specified speed.
   9  *
  10  * pre-condition: This command must be run by a button in OI with method
  11  * whileHeld()
  12  *
  13  * post-condition: winch motor set to a specified speed.
  14  *
  15  * @author Meryem and Avi
  16  *
  17  */
  18
  19 public class SetWinchSpeed extends Command {
  20   double winchUpSpeed;
  21
  22   public SetWinchSpeed(double speed) {
  23     requires(Robot.scaler);
  24     winchUpSpeed = speed;
  25   }
  26
  27   @Override
  28   protected void initialize() {
  29     Robot.scaler.runWinch(winchUpSpeed);
  30   }
  31
  32   @Override
  33   protected void execute() {
  34   }
  35
  36   @Override
  37   protected boolean isFinished() {
  38     return true;
  39   }
  40
  41   @Override
  42   protected void end() {
  43   }
  44
  45   @Override
  46   protected void interrupted() {
  47   }
  48 }