LaunchNote
unknown
java
a year ago
1.8 kB
8
Indexable
// Copyright (c) FIRST and other WPILib contributors. // Open Source Software; you can modify and/or share it under the terms of // the WPILib BSD license file in the root directory of this project. package frc.robot.commands; import static frc.robot.Constants.LauncherConstants.*; import edu.wpi.first.wpilibj2.command.Command; import frc.robot.subsystems.PWMLauncher; // import frc.robot.subsystems.CANLauncher; public class PrepareLaunch extends Command { PWMLauncher m_launcher; // CANLauncher m_launcher; /** Creates a new PrepareLaunch. */ public PrepareLaunch(PWMLauncher launcher) { // save the launcher system internally m_launcher = launcher; // indicate that this command requires the launcher system addRequirements(m_launcher); } // Called when the command is initially scheduled. @Override public void initialize() { // Set launch wheel to speed, keep feed wheel at 0 to let launch wheel spin up. m_launcher.setLaunchWheel(kLauncherSpeed); } // Called every time the scheduler runs while the command is scheduled. @Override public void execute() { // There is nothing we need this command to do on each iteration. You could remove this method // and the default blank method // of the base class will run. } // Called once the command ends or is interrupted. @Override public void end(boolean interrupted) { // Do nothing when the command ends. The launch wheel needs to keep spinning in order to launch } // Returns true when the command should end. @Override public boolean isFinished() { // Always return false so the command never ends on it's own. In this project we use a timeout // decorator on the command to end it. return false; } }
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