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Merge pull request #53 from prosa100/feature/21-compressor-etc
Issue #21: added compressor command and made some fixes to deal with mec...
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| <?xml version="1.0" encoding="UTF-8" standalone="no"?> | ||
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| This is a sample netbeans project file for a Sun Spot Application project. | ||
| You may edit it freely, it doesn't affect the ant-powered build. | ||
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49 changes: 49 additions & 0 deletions
49
frc2022_2014/src/org/usfirst/frc2022_2014/commands/CompressorController.java
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| Original file line number | Diff line number | Diff line change |
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| @@ -0,0 +1,49 @@ | ||
| package org.usfirst.frc2022_2014.commands; | ||
|
|
||
| /** | ||
| * | ||
| 1) Turn back solenoid | ||
| 2) Turn on electromagnet (relay) | ||
| 3) Wait until fully back (limit switch) | ||
| 4) Turn forward solenoid | ||
| The two subsystems for the pinball shooter and the compressor should be merged | ||
| * | ||
| * @author Emma | ||
| */ | ||
| public class CompressorController extends CommandBase { | ||
|
|
||
| public CompressorController(){ | ||
| requires(compressor); | ||
|
|
||
| } | ||
|
|
||
| // Called just before this Command runs the first time | ||
| protected void initialize() { | ||
| compressor.relayOn(); | ||
| } | ||
|
|
||
| // Called repeatedly when this Command is scheduled to run | ||
| protected void execute() { | ||
| compressor.backwardSolenoid(); | ||
| } | ||
|
|
||
| // Make this return true when this Command no longer needs to run execute() | ||
| protected boolean isFinished() { | ||
| return false; | ||
| } | ||
|
|
||
| // Called once after isFinished returns true | ||
| protected void end() { | ||
| if(compressor.pistonOut()){ | ||
| compressor.forwardSolenoid(); | ||
| compressor.stop(); | ||
| } | ||
| } | ||
|
|
||
| // Called when another command which requires one or more of the same | ||
| // subsystems is scheduled to run | ||
| protected void interrupted() { | ||
| compressor.stop(); | ||
| } | ||
| } |
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