| 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 | import org.usfirst.frc.team3501.robot.utils.PIDController; |
| 6 | |
| 7 | import edu.wpi.first.wpilibj.command.Command; |
| 8 | |
| 9 | /** |
| 10 | * This command runs the fly wheel continuously at a set speed using a PID |
| 11 | * Controller when OI button managing fly wheel is pressed. The command will run |
| 12 | * the fly wheel motor until the button triggering it is released. |
| 13 | * |
| 14 | * Should only be run from the operator interface. |
| 15 | * |
| 16 | * pre-condition: This command must be run by a button in OI, with |
| 17 | * button.whileHeld(...). |
| 18 | * |
| 19 | * @author Shaina & Chris |
| 20 | */ |
| 21 | public class RunFlyWheelContinuous extends Command { |
| 22 | private Shooter shooter = Robot.getShooter(); |
| 23 | |
| 24 | private PIDController wheelController; |
| 25 | |
| 26 | public RunFlyWheelContinuous() { |
| 27 | requires(shooter); |
| 28 | } |
| 29 | |
| 30 | @Override |
| 31 | protected void initialize() { |
| 32 | shooter.initializePIDController(); |
| 33 | } |
| 34 | |
| 35 | @Override |
| 36 | protected void execute() { |
| 37 | shooter.setFlyWheelMotorVal(shooter.calculateShooterSpeed()); |
| 38 | } |
| 39 | |
| 40 | @Override |
| 41 | protected boolean isFinished() { |
| 42 | return false; |
| 43 | } |
| 44 | |
| 45 | @Override |
| 46 | protected void end() { |
| 47 | this.shooter.stopFlyWheel(); |
| 48 | } |
| 49 | |
| 50 | @Override |
| 51 | protected void interrupted() { |
| 52 | end(); |
| 53 | } |
| 54 | } |