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

   1 package org.usfirst.frc.team3501.robot.commands.intakearm;
   2
   3 import org.usfirst.frc.team3501.robot.Constants.IntakeArm;
   4 import org.usfirst.frc.team3501.robot.Robot;
   5
   6 import edu.wpi.first.wpilibj.DoubleSolenoid.Value;
   7 import edu.wpi.first.wpilibj.command.Command;
   8
   9 /**
  10  * This command will expand or retract the intake arm's pistons depending on the
  11  * specified direction the intake arm should move
  12  */
  13 public class MoveIntakeArm extends Command {
  14   Value direction;
  15
  16   public MoveIntakeArm(Value direction) {
  17     requires(Robot.intakeArm);
  18     this.direction = direction;
  19   }
  20
  21   @Override
  22   protected void initialize() {
  23     if (direction == IntakeArm.EXTEND)
  24       Robot.intakeArm.extendPistons();
  25     else
  26       Robot.intakeArm.retractPistons();
  27   }
  28
  29   @Override
  30   protected void execute() {
  31   }
  32
  33   @Override
  34   protected boolean isFinished() {
  35     return true;
  36   }
  37
  38   @Override
  39   protected void end() {
  40   }
  41
  42   @Override
  43   protected void interrupted() {
  44   }
  45 }