From: Shaina Chen <shaina.sierra@gmail.com>
Date: Wed, 10 Feb 2016 03:38:48 +0000 (-0800)
Subject: create and fill lowerWristContinuous command
X-Git-Url: http://challenge-bot.com/repos/?p=3501%2Fstronghold-2016;a=commitdiff_plain;h=4854c2706a2a2b5eb44bd67baf7da0336afe52b4

create and fill lowerWristContinuous command
---

diff --git a/src/org/usfirst/frc/team3501/robot/commands/LowerWristContinuous.java b/src/org/usfirst/frc/team3501/robot/commands/LowerWristContinuous.java
new file mode 100755
index 00000000..a0354a9c
--- /dev/null
+++ b/src/org/usfirst/frc/team3501/robot/commands/LowerWristContinuous.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 LowerWristContinuous extends Command {
+
+  private double speed;
+
+  public LowerWristContinuous(double speed) {
+    requires(Robot.defenseArm);
+    this.speed = -speed;
+  }
+
+  @Override
+  protected void initialize() {
+    Robot.defenseArm.setHandSpeed(speed);
+  }
+
+  @Override
+  protected void execute() {
+  }
+
+  @Override
+  protected boolean isFinished() {
+    return false;
+  }
+
+  @Override
+  protected void end() {
+    Robot.defenseArm.setHandSpeed(0);
+  }
+
+  @Override
+  protected void interrupted() {
+    end();
+  }
+}