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

   1 package org.usfirst.frc.team3501.robot.commands.intakearm;
   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: Intake arm must be at correct height and a boulder is not
  12  * present inside the robot.
  13  *
  14  * post-condition: A boulder is taken in from the field outside of the robot
  15  * into the robot.
  16  *
  17  * @author Lauren and Niyati
  18  *
  19  */
  20
  21 public class IntakeBall extends Command {
  22   private final int TIMEOUT_AMOUNT = 5;
  23
  24   public IntakeBall() {
  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.intakeBall();
  33
  34   }
  35
  36   @Override
  37   protected void execute() {
  38
  39   }
  40
  41   @Override
  42   protected boolean isFinished() {
  43     return (this.isTimedOut() || Robot.photogate.isBallPresent());
  44   }
  45
  46   @Override
  47   protected void end() {
  48     Robot.intakeArm.stopRollers();
  49
  50   }
  51
  52   @Override
  53   protected void interrupted() {
  54
  55   }
  56
  57 }