From: Lauren Meier <meier.lauren@gmail.com>
Date: Tue, 9 Feb 2016 04:08:43 +0000 (-0800)
Subject: add commands to run winches continuously
X-Git-Url: http://challenge-bot.com/repos/?p=3501%2Fstronghold-2016;a=commitdiff_plain;h=0d4d5dcbf4630c1eab65bc72dc292402c41ca748

add commands to run winches continuously
---

diff --git a/src/org/usfirst/frc/team3501/robot/commands/WinchRobotDownContinuous.java b/src/org/usfirst/frc/team3501/robot/commands/WinchRobotDownContinuous.java
new file mode 100644
index 00000000..69935270
--- /dev/null
+++ b/src/org/usfirst/frc/team3501/robot/commands/WinchRobotDownContinuous.java
@@ -0,0 +1,39 @@
+package org.usfirst.frc.team3501.robot.commands;
+
+import org.usfirst.frc.team3501.robot.Robot;
+
+import edu.wpi.first.wpilibj.command.Command;
+
+public class WinchRobotDownContinuous extends Command {
+  double winchDownSpeed;
+
+  public WinchRobotDownContinuous(double speed) {
+    winchDownSpeed = speed;
+    if (winchDownSpeed > 1)
+      winchDownSpeed = 1;
+    if (winchDownSpeed < -1)
+      winchDownSpeed = -1;
+  }
+
+  @Override
+  protected void initialize() {
+    Robot.scaler.runWinch(winchDownSpeed);
+  }
+
+  @Override
+  protected void execute() {
+  }
+
+  @Override
+  protected boolean isFinished() {
+    return true;
+  }
+
+  @Override
+  protected void end() {
+  }
+
+  @Override
+  protected void interrupted() {
+  }
+}
diff --git a/src/org/usfirst/frc/team3501/robot/commands/WinchRobotUpContinuous.java b/src/org/usfirst/frc/team3501/robot/commands/WinchRobotUpContinuous.java
new file mode 100644
index 00000000..ea35f24d
--- /dev/null
+++ b/src/org/usfirst/frc/team3501/robot/commands/WinchRobotUpContinuous.java
@@ -0,0 +1,39 @@
+package org.usfirst.frc.team3501.robot.commands;
+
+import org.usfirst.frc.team3501.robot.Robot;
+
+import edu.wpi.first.wpilibj.command.Command;
+
+public class WinchRobotUpContinuous extends Command {
+  double winchUpSpeed;
+
+  public WinchRobotUpContinuous(double speed) {
+    winchUpSpeed = speed;
+    if (winchUpSpeed > 1)
+      winchUpSpeed = 1;
+    if (winchUpSpeed < -1)
+      winchUpSpeed = -1;
+  }
+
+  @Override
+  protected void initialize() {
+    Robot.scaler.runWinch(winchUpSpeed);
+  }
+
+  @Override
+  protected void execute() {
+  }
+
+  @Override
+  protected boolean isFinished() {
+    return true;
+  }
+
+  @Override
+  protected void end() {
+  }
+
+  @Override
+  protected void interrupted() {
+  }
+}