Commit | Line | Data |
---|---|---|
809609c9 | 1 | package org.usfirst.frc.team3501.robot.commands.shooter; |
2 | ||
5b1f2bc5 | 3 | import org.usfirst.frc.team3501.robot.Robot; |
00f515a1 | 4 | import org.usfirst.frc.team3501.robot.subsystems.Shooter; |
5b1f2bc5 | 5 | |
809609c9 | 6 | import edu.wpi.first.wpilibj.command.Command; |
7 | ||
8 | /** | |
973f0ac4 | 9 | * This command runs index wheel at a given speed for given time in seconds. |
10 | * | |
11 | * pre-condition: fly wheel is running at full speed to prepare for shooting | |
12 | * fuel | |
13 | * | |
27d2386f | 14 | * @author Shaina |
809609c9 | 15 | */ |
16 | public class RunIndexWheel extends Command { | |
00f515a1 | 17 | private Shooter shooter = Robot.getShooter(); |
c0860df7 | 18 | private double time; |
c0860df7 | 19 | |
b7ef589a | 20 | /** |
21 | * See JavaDoc comment in class for details | |
22 | * | |
23 | * @param motorVal | |
24 | * value range from -1 to 1 | |
25 | * @param time | |
26 | * in seconds, amount of time to run index wheel motor | |
27 | */ | |
00f515a1 CZ |
28 | public RunIndexWheel(double time) { |
29 | requires(shooter); | |
c0860df7 | 30 | this.time = time; |
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() { | |
d7042bec NA |
41 | double shooterSpeed = shooter.getShooterRPM(); |
42 | if (shooterSpeed > 0) { | |
43 | shooter.setIndexWheelMotorVal(shooter.DEFAULT_INDEXING_SPEED); | |
44 | } | |
c0860df7 | 45 | } |
46 | ||
47 | // Called once after isFinished returns true | |
48 | @Override | |
49 | protected void end() { | |
00f515a1 | 50 | shooter.stopIndexWheel(); |
c0860df7 | 51 | } |
52 | ||
53 | // Called when another command which requires one or more of the same | |
54 | // subsystems is scheduled to run | |
55 | @Override | |
56 | protected void interrupted() { | |
5b1f2bc5 | 57 | end(); |
c0860df7 | 58 | } |
59 | ||
60 | @Override | |
61 | protected boolean isFinished() { | |
00f515a1 | 62 | return timeSinceInitialized() >= time; |
c0860df7 | 63 | } |
809609c9 | 64 | |
65 | } |