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Merge pull request #2 from NicoletFEAR/Game-Mech
Game mech
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44 changes: 44 additions & 0 deletions
44
Stronghold2016/src/com/nicoletfear/Stronghold2016/commands/ArmDown.java
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| Original file line number | Diff line number | Diff line change |
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| @@ -0,0 +1,44 @@ | ||
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| package com.nicoletfear.Stronghold2016.commands; | ||
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| import edu.wpi.first.wpilibj.command.Command; | ||
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| import com.nicoletfear.Stronghold2016.Robot; | ||
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| /** | ||
| *Command that lowers arm. It stops when the user releases the | ||
| *lower limit switch or releases the button | ||
| */ | ||
| public class ArmDown extends Command { | ||
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| public ArmDown() { | ||
| // Use requires() here to declare subsystem dependencies | ||
| requires(Robot.arm); | ||
| } | ||
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| // Called just before this Command runs the first time | ||
| protected void initialize() { | ||
| Robot.arm.armDown(); | ||
| } | ||
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| // Called repeatedly when this Command is scheduled to run | ||
| protected void execute() { | ||
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| } | ||
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| // Make this return true when this Command no longer needs to run execute() | ||
| protected boolean isFinished() { | ||
| return Robot.arm.downLimitSwitchPressed(); | ||
| } | ||
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| // Called once after isFinished returns true | ||
| protected void end() { | ||
| Robot.arm.armStop(); | ||
| } | ||
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| // Called when another command which requires one or more of the same | ||
| // subsystems is scheduled to run | ||
| protected void interrupted() { | ||
| end(); | ||
| } | ||
| } |
43 changes: 43 additions & 0 deletions
43
Stronghold2016/src/com/nicoletfear/Stronghold2016/commands/ArmUp.java
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| Original file line number | Diff line number | Diff line change |
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| @@ -0,0 +1,43 @@ | ||
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| package com.nicoletfear.Stronghold2016.commands; | ||
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| import edu.wpi.first.wpilibj.command.Command; | ||
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| import com.nicoletfear.Stronghold2016.Robot; | ||
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| /** | ||
| *Command that raises arm. It stops when the user releases the | ||
| *upper limit switch or releases the button | ||
| */ | ||
| public class ArmUp extends Command { | ||
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| public ArmUp() { | ||
| // Use requires() here to declare subsystem dependencies | ||
| requires(Robot.arm); | ||
| } | ||
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| // Called just before this Command runs the first time | ||
| protected void initialize() { | ||
| Robot.arm.armUp(); | ||
| } | ||
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| // Called repeatedly when this Command is scheduled to run | ||
| protected void execute() { | ||
| } | ||
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| // Make this return true when this Command no longer needs to run execute() | ||
| protected boolean isFinished() { | ||
| return Robot.arm.upLimitSwitchPressed(); | ||
| } | ||
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| // Called once after isFinished returns true | ||
| protected void end() { | ||
| Robot.arm.armStop(); | ||
| } | ||
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| // Called when another command which requires one or more of the same | ||
| // subsystems is scheduled to run | ||
| protected void interrupted() { | ||
| end(); | ||
| } | ||
| } |
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46 changes: 46 additions & 0 deletions
46
Stronghold2016/src/com/nicoletfear/Stronghold2016/commands/PassCommand.java
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| Original file line number | Diff line number | Diff line change |
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| @@ -0,0 +1,46 @@ | ||
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| package com.nicoletfear.Stronghold2016.commands; | ||
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| import edu.wpi.first.wpilibj.command.Command; | ||
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| import com.nicoletfear.Stronghold2016.Robot; | ||
| import com.nicoletfear.Stronghold2016.xbox.Buttons; | ||
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| /** | ||
| *this command passes the ball | ||
| */ | ||
| public class PassCommand extends Command { | ||
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| public PassCommand() { | ||
| // Use requires() here to declare subsystem dependencies | ||
| requires(Robot.intake); | ||
| } | ||
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| // Called just before this Command runs the first time | ||
| protected void initialize() { | ||
| Robot.intake.pass(); | ||
| } | ||
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| // Called repeatedly when this Command is scheduled to run | ||
| protected void execute() { | ||
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| //when A is pressed, starts passing | ||
| //when A is released, stops intake from spinning | ||
| } | ||
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| // Make this return true when this Command no longer needs to run execute() | ||
| protected boolean isFinished() { | ||
| return false; | ||
| } | ||
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| // Called once after isFinished returns true | ||
| protected void end() { | ||
| Robot.intake.stopIntake(); | ||
| } | ||
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| // Called when another command which requires one or more of the same | ||
| // subsystems is scheduled to run | ||
| protected void interrupted() { | ||
| end(); | ||
| } | ||
| } |
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