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// 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; /*This is an example of creating a command as a class. The base Command class provides a set of methods that your command * will override. */ public class LaunchNote extends Command { PWMLauncher m_launcher; // CANLauncher m_launcher; /** Creates a new LaunchNote. */ public LaunchNote(PWMLauncher launcher) { // save the launcher system internally m_launcher = launcher; // indicate that this command requires the launcher system addRequirements(m_launcher); } // The initialize method is called when the command is initially scheduled. @Override public void initialize() { // Set the wheels to launching speed m_launcher.setLaunchWheel(kLauncherSpeed); m_launcher.setFeedWheel(kLaunchFeederSpeed); } // 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. } // 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 the // scheduler to end the command when the button is released. return false; } // Called once the command ends or is interrupted. @Override public void end(boolean interrupted) { // Stop the wheels when the command ends. m_launcher.stop(); } }
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