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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,51 @@ | ||
| // 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. | ||
|
|
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| package frc.robot.commands; | ||
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| import edu.wpi.first.wpilibj2.command.Command; | ||
| import frc.robot.Constants; | ||
| import frc.robot.subsystems.LifterSubsystem; | ||
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| /** Lifter Command using the Lifter Subsystem. */ | ||
| public class LifterDownCommand extends Command { | ||
| @SuppressWarnings({"PMD.UnusedPrivateField", "PMD.SingularField"}) | ||
| private final LifterSubsystem m_lifterSubsystem; | ||
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| private final double speed = Constants.LIFTERSPEED; | ||
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|
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| /** | ||
| * Creates a new LifterDownCommand. | ||
| * | ||
| * @param subsystem The subsystem used by this command. | ||
| */ | ||
| public LifterDownCommand(LifterSubsystem l_subsystem) { | ||
| m_lifterSubsystem = l_subsystem; | ||
| // Use addRequirements() here to declare subsystem dependencies. | ||
| addRequirements(l_subsystem); | ||
| } | ||
|
|
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| // Called when the command is initially scheduled. | ||
| @Override | ||
| public void initialize() {} | ||
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| // Called every time the scheduler runs while the command is scheduled. | ||
| @Override | ||
| public void execute() { | ||
| m_lifterSubsystem.leftDown(speed); | ||
| m_lifterSubsystem.rightDown(speed); | ||
| } | ||
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| // Called once the command ends or is interrupted. | ||
| @Override | ||
| public void end(boolean interrupted) { | ||
| m_lifterSubsystem.stop(); | ||
| } | ||
|
|
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| // Returns true when the command should end. | ||
| @Override | ||
| public boolean isFinished() { | ||
| return false; | ||
| } | ||
| } |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,51 @@ | ||
| // 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 edu.wpi.first.wpilibj2.command.Command; | ||
| import frc.robot.Constants; | ||
| import frc.robot.subsystems.LifterSubsystem; | ||
|
|
||
| /** Lifter Command using the Lifter Subsystem. */ | ||
| public class LifterUpCommand extends Command { | ||
| @SuppressWarnings({"PMD.UnusedPrivateField", "PMD.SingularField"}) | ||
| private final LifterSubsystem m_lifterSubsystem; | ||
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| private final double speed = Constants.LIFTERSPEED; | ||
|
|
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| /** | ||
| * Creates a new LifterUpCommand. | ||
| * | ||
| * @param l_subsystem The subsystem used by this command. | ||
| */ | ||
| public LifterUpCommand(LifterSubsystem l_subsystem) { | ||
| m_lifterSubsystem = l_subsystem; | ||
| // Use addRequirements() here to declare subsystem dependencies. | ||
| addRequirements(l_subsystem); | ||
| } | ||
|
|
||
| // Called when the command is initially scheduled. | ||
| @Override | ||
| public void initialize() {} | ||
|
|
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| // Called every time the scheduler runs while the command is scheduled. | ||
| @Override | ||
| public void execute() { | ||
| m_lifterSubsystem.leftUp(speed); | ||
| m_lifterSubsystem.rightUp(speed); | ||
| } | ||
|
|
||
| // Called once the command ends or is interrupted. | ||
| @Override | ||
| public void end(boolean interrupted) { | ||
| m_lifterSubsystem.stop(); | ||
| } | ||
|
|
||
| // Returns true when the command should end. | ||
| @Override | ||
| public boolean isFinished() { | ||
| return false; | ||
| } | ||
| } |
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