From 39a39f43b69ddb4273b2b79fc52f6a03522143a7 Mon Sep 17 00:00:00 2001
From: Kevin Zhang <icestormf1@gmail.com>
Date: Sun, 14 Feb 2016 16:34:06 -0800
Subject: [PATCH] add end() in interrupted in scaler methods and make sure
 constants go in the right place

---
 .../usfirst/frc/team3501/robot/Constants.java |  2 +-
 .../robot/commands/scaler/ClampBar.java       | 12 ++---
 .../robot/commands/scaler/ExtendLift.java     |  1 +
 .../robot/commands/scaler/RetractLift.java    | 49 ++++++++++---------
 4 files changed, 33 insertions(+), 31 deletions(-)

diff --git a/src/org/usfirst/frc/team3501/robot/Constants.java b/src/org/usfirst/frc/team3501/robot/Constants.java
index 23268168..3304a101 100644
--- a/src/org/usfirst/frc/team3501/robot/Constants.java
+++ b/src/org/usfirst/frc/team3501/robot/Constants.java
@@ -66,7 +66,7 @@ public class Constants {
 
     // Winch speeds
     public final static double WINCH_STOP_SPEED = 0.0;
-
+    public final static double SECONDS_TO_CLAMP = 2.0;
   }
 
   public static class Shooter {
diff --git a/src/org/usfirst/frc/team3501/robot/commands/scaler/ClampBar.java b/src/org/usfirst/frc/team3501/robot/commands/scaler/ClampBar.java
index 9e9fbc1b..23b010f1 100755
--- a/src/org/usfirst/frc/team3501/robot/commands/scaler/ClampBar.java
+++ b/src/org/usfirst/frc/team3501/robot/commands/scaler/ClampBar.java
@@ -1,21 +1,21 @@
 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
diff --git a/src/org/usfirst/frc/team3501/robot/commands/scaler/ExtendLift.java b/src/org/usfirst/frc/team3501/robot/commands/scaler/ExtendLift.java
index f4001d9a..bead3866 100755
--- a/src/org/usfirst/frc/team3501/robot/commands/scaler/ExtendLift.java
+++ b/src/org/usfirst/frc/team3501/robot/commands/scaler/ExtendLift.java
@@ -29,5 +29,6 @@ public class ExtendLift extends Command {
 
   @Override
   protected void interrupted() {
+    end();
   }
 }
diff --git a/src/org/usfirst/frc/team3501/robot/commands/scaler/RetractLift.java b/src/org/usfirst/frc/team3501/robot/commands/scaler/RetractLift.java
index e160b19c..880ff503 100755
--- a/src/org/usfirst/frc/team3501/robot/commands/scaler/RetractLift.java
+++ b/src/org/usfirst/frc/team3501/robot/commands/scaler/RetractLift.java
@@ -6,28 +6,29 @@ import edu.wpi.first.wpilibj.command.Command;
 
 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();
+  }
 }
-- 
2.30.2