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

   1 package org.usfirst.frc.team3501.robot.commands;
   2
   3 import org.usfirst.frc.team3501.robot.Robot;
   4
   5 /***
   6  * This command will continually roll the rollers of the intake arm in the
   7  * outwards direction and stop the rollers once the command is canceled.
   8  *
   9  * pre-condition: This command must be called by a button with the method .whileHeld() in OI
  10  *
  11  * @author Lauren and Niyati
  12  *
  13  */
  14
  15 import edu.wpi.first.wpilibj.command.Command;
  16
  17 public class ToggleBallRollerExpel extends Command {
  18
  19   public ToggleBallRollerExpel() {
  20     requires(Robot.intakeArm);
  21   }
  22
  23   @Override
  24   protected void initialize() {
  25     Robot.intakeArm.outputBall();
  26   }
  27
  28   @Override
  29   protected void execute() {
  30
  31   }
  32
  33   @Override
  34   protected boolean isFinished() {
  35     return true;
  36   }
  37
  38   @Override
  39   protected void end() {
  40     Robot.intakeArm.stopRollers();
  41   }
  42
  43   @Override
  44   protected void interrupted() {
  45     end();
  46   }
  47 }