Commit | Line | Data |
---|---|---|
809609c9 | 1 | package org.usfirst.frc.team3501.robot.commands.shooter; |
2 | ||
210ebccb | 3 | import org.usfirst.frc.team3501.robot.Robot; |
fe04fc8e | 4 | import org.usfirst.frc.team3501.robot.Constants; |
ad7e6b1e | 5 | import org.usfirst.frc.team3501.robot.subsystems.Shooter; |
b6c65122 RR |
6 | <<<<<<< HEAD |
7 | ======= | |
8 | ||
9 | >>>>>>> Remove getters for shift pistons | |
66945150 | 10 | import edu.wpi.first.wpilibj.Timer; |
809609c9 | 11 | import edu.wpi.first.wpilibj.command.Command; |
12 | ||
13 | /** | |
d4507ede | 14 | * This command runs index wheel continuously when OI button managing index |
15 | * wheel is pressed. The command will run the index wheel motor until the button | |
89a76b33 | 16 | * triggering it is released. |
357feb5c | 17 | * |
d4507ede | 18 | * Should only be run from the operator interface. |
19 | * | |
973f0ac4 | 20 | * pre-condition: This command must be run by a button in OI with |
21 | * button.whileHeld(...). | |
22 | * | |
27d2386f | 23 | * @author Shaina |
809609c9 | 24 | */ |
25 | public class RunIndexWheelContinuous extends Command { | |
ad7e6b1e | 26 | private Shooter shooter = Robot.getShooter(); |
66945150 | 27 | private Timer t = new Timer(); |
4f2fa45c | 28 | |
b7ef589a | 29 | /** |
30 | * See JavaDoc comment in class for details | |
b7ef589a | 31 | */ |
ad7e6b1e | 32 | public RunIndexWheelContinuous() { |
00f515a1 | 33 | requires(shooter); |
4f2fa45c | 34 | } |
35 | ||
4f2fa45c | 36 | @Override |
37 | protected void initialize() { | |
b6c65122 | 38 | <<<<<<< HEAD |
2d810c3c | 39 | t.start(); |
b6c65122 RR |
40 | ======= |
41 | t.reset(); | |
42 | >>>>>>> Remove getters for shift pistons | |
4f2fa45c | 43 | } |
44 | ||
4f2fa45c | 45 | @Override |
46 | protected void execute() { | |
b092ede2 | 47 | if (t.get() > 1) { |
2d810c3c RR |
48 | if (Shooter.getShooter().getPistonValue() == Constants.Shooter.LOW_GEAR) { |
49 | Shooter.getShooter().setHighGear(); | |
50 | } else { | |
51 | Shooter.getShooter().setLowGear(); | |
52 | } | |
53 | t.reset(); | |
54 | } | |
02cde7ca | 55 | |
dd4a8793 | 56 | if (shooter.isShooterRPMWithinRangeOfTargetSpeed(25)) |
f625e57a | 57 | shooter.runIndexWheel(); |
6bc81b55 | 58 | |
4f2fa45c | 59 | } |
60 | ||
4f2fa45c | 61 | @Override |
62 | protected void end() { | |
135022bc | 63 | shooter.stopIndexWheel(); |
4f2fa45c | 64 | } |
65 | ||
4f2fa45c | 66 | @Override |
67 | protected void interrupted() { | |
210ebccb | 68 | end(); |
4f2fa45c | 69 | } |
70 | ||
71 | @Override | |
72 | protected boolean isFinished() { | |
2a9dabb1 | 73 | return false; |
4f2fa45c | 74 | } |
809609c9 | 75 | |
76 | } |