package org.usfirst.frc.team3501.robot.commands.scaler;
+import org.usfirst.frc.team3501.robot.Constants;
import org.usfirst.frc.team3501.robot.Robot;
import edu.wpi.first.wpilibj.command.Command;
public class ClampBar extends Command {
- private double secondsToClamp = 2.0; // seconds for the winch to run in order
- // for it to clamp(requires testing)
- private double winchSpeed = 0.5; // requires testing
+ private double speed = 0;
- public ClampBar() {
+ public ClampBar(double speed) {
+ this.speed = speed;
}
@Override
protected void initialize() {
- setTimeout(secondsToClamp);
- Robot.scaler.runWinch(winchSpeed);
+ setTimeout(Constants.Scaler.SECONDS_TO_CLAMP);
+ Robot.scaler.runWinch(this.speed);
}
@Override
public class RetractLift extends Command {
- public RetractLift() {
- }
-
- @Override
- protected void initialize() {
- Robot.scaler.lowerScissorLift();
- }
-
- @Override
- protected void execute() {
- }
-
- @Override
- protected boolean isFinished() {
- return true;
- }
-
- @Override
- protected void end() {
- }
-
- @Override
- protected void interrupted() {
- }
+ public RetractLift() {
+ }
+
+ @Override
+ protected void initialize() {
+ Robot.scaler.lowerScissorLift();
+ }
+
+ @Override
+ protected void execute() {
+ }
+
+ @Override
+ protected boolean isFinished() {
+ return true;
+ }
+
+ @Override
+ protected void end() {
+ }
+
+ @Override
+ protected void interrupted() {
+ end();
+ }
}