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5c1a9af1 RR |
1 | package org.usfirst.frc.team3501.robot.commands.shooter; |
2 | ||
3 | import org.usfirst.frc.team3501.robot.Robot; | |
4 | import org.usfirst.frc.team3501.robot.subsystems.Shooter; | |
5 | ||
6 | import edu.wpi.first.wpilibj.command.Command; | |
7 | ||
8 | /** | |
9 | * This command reverses the index wheel continuously when OI button managing | |
10 | * index wheel is pressed. The command will run the index wheel motor until the | |
11 | * button triggering it is released. | |
12 | * | |
13 | * Should only be run from the operator interface. | |
14 | * | |
15 | * pre-condition: This command must be run by a button in OI with | |
16 | * button.whileHeld(...). | |
17 | * | |
18 | * @author Rohan | |
19 | */ | |
20 | public class ReverseIndexWheelContinuous extends Command { | |
21 | private Shooter shooter = Robot.getShooter(); | |
22 | ||
23 | /** | |
24 | * See JavaDoc comment in class for details | |
25 | * | |
26 | * @param motorVal | |
27 | * value range from -1 to 1 | |
28 | */ | |
29 | public ReverseIndexWheelContinuous() { | |
30 | requires(shooter); | |
31 | } | |
32 | ||
33 | // Called just before this Command runs the first time | |
34 | @Override | |
35 | protected void initialize() { | |
36 | } | |
37 | ||
38 | // Called repeatedly when this Command is scheduled to run | |
39 | @Override | |
40 | protected void execute() { | |
f625e57a | 41 | shooter.reverseIndexWheel(); |
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42 | } |
43 | ||
44 | // Called once after isFinished returns true | |
45 | @Override | |
46 | protected void end() { | |
e3237986 | 47 | shooter.stopIndexWheel(); |
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48 | } |
49 | ||
50 | // Called when another command which requires one or more of the same | |
51 | // subsystems is scheduled to run | |
52 | @Override | |
53 | protected void interrupted() { | |
54 | end(); | |
55 | } | |
56 | ||
57 | @Override | |
58 | protected boolean isFinished() { | |
59 | return false; | |
60 | ||
61 | } | |
62 | ||
63 | } |