| 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 decreases the speed at which the flywheel runs at by a fixed |
| 10 | * constant |
| 11 | * |
| 12 | * post-condition: the shooting speed is decremented, such that whenever the |
| 13 | * flywheel is run, it will run at the decreased shooting speed |
| 14 | */ |
| 15 | public class DecreaseShootingSpeed extends Command { |
| 16 | private Shooter shooter = Robot.getShooter(); |
| 17 | |
| 18 | public DecreaseShootingSpeed() { |
| 19 | |
| 20 | } |
| 21 | |
| 22 | @Override |
| 23 | protected void initialize() { |
| 24 | shooter.CURRENT_SHOOTING_SPEED -= shooter.SHOOTING_SPEED_INCREMENT; |
| 25 | |
| 26 | } |
| 27 | |
| 28 | @Override |
| 29 | protected void execute() { |
| 30 | } |
| 31 | |
| 32 | @Override |
| 33 | protected void end() { |
| 34 | } |
| 35 | |
| 36 | @Override |
| 37 | protected void interrupted() { |
| 38 | end(); |
| 39 | } |
| 40 | |
| 41 | @Override |
| 42 | protected boolean isFinished() { |
| 43 | return true; |
| 44 | |
| 45 | } |
| 46 | |
| 47 | } |