run claw and claw stuff (vcool)

src/main/java/frc4388/robot/commands/RunClaw.java

@@ -0,0 +1,57 @@
+// 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 frc4388.robot.commands;
+
+import edu.wpi.first.wpilibj2.command.CommandBase;
+import frc4388.robot.Constants.ClawConstants;
+import frc4388.robot.subsystems.Claws;
+
+public class RunClaw extends CommandBase {
+
+  // parameters
+  public Claws m_claws;
+  public Claws.ClawType clawType;
+  public boolean open;
+
+  // current limit
+  public double currentLimit;
+
+  /**
+   * Creates a new RunClaw, which runs a claw.
+   * @param sClaws Claws subsystem.
+   * @param which Which claw to run.
+   * @param open Whether to open or close the claw.
+   */
+  public RunClaw(Claws sClaws, Claws.ClawType which, boolean open) {
+    // Use addRequirements() here to declare subsystem dependencies.
+    m_claws = sClaws;
+    clawType = which;
+    this.open = open;
+    
+    currentLimit = ClawConstants.CURRENT_LIMIT;
+
+    addRequirements(m_claws);
+  }
+
+  // Called when the command is initially scheduled.
+  @Override
+  public void initialize() {}
+
+  // Called every time the scheduler runs while the command is scheduled.
+  @Override
+  public void execute() {
+    m_claws.runClaw(clawType, open);
+  }
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {}
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return m_claws.checkSwitchAndCurrent(clawType, currentLimit);
+  }
+}