Creates methods for setting speed, adding to speed, and subtracting from speed along...

[3501/stronghold-2016] / src / org / usfirst / frc / team3501 / robot / commands / ShooterTest.java

package org.usfirst.frc.team3501.robot.commands;

import org.usfirst.frc.team3501.robot.Robot;

import edu.wpi.first.wpilibj.command.Command;

/**
 *
 */
public class ShooterTest extends Command {

  public ShooterTest() {

    requires(Robot.shooter);
  }

  @Override
  protected void initialize() {

    Robot.shooter.setSpeed(0.5);

  }

  @Override
  protected void execute() {
    boolean triggerPressed = Robot.oi.rightJoystick.getTrigger();
    boolean leftSidePressed = Robot.oi.leftSilverButton.get();
    boolean rightSidePressed = Robot.oi.rightSilverButton.get();

    boolean thumbPressed = Robot.oi.thumbButton.get();

    double currentWheelSpeed = Robot.shooter.getCurrentSpeed();

    if (triggerPressed == true) {
      Robot.shooter.setSpeed(currentWheelSpeed);
    } else {
      Robot.shooter.setSpeed(0.0);
    }

    if (leftSidePressed == true) {
      Robot.shooter.decrementSpeed(0.1);
    }

    if (rightSidePressed == true) {
      Robot.shooter.incrementSpeed(0.1);
    }

    if (thumbPressed == true) {
      System.out.println(Robot.shooter.getCurrentSpeed());
    }
  }

  // Make this return true when this Command no longer needs to run execute()
  @Override
  protected boolean isFinished() {
    return false;
  }

  // Called once after isFinished returns true
  @Override
  protected void end() {
  }

  // Called when another command which requires one or more of the same
  // subsystems is scheduled to run
  @Override
  protected void interrupted() {
  }
}