challenge-bot.com Git - 3501/stronghold-2016/blob - src/org/usfirst/frc/team3501/robot/commands/ShooterTest.java

   1 package org.usfirst.frc.team3501.robot.commands;
   2
   3 import org.usfirst.frc.team3501.robot.Robot;
   4
   5 import edu.wpi.first.wpilibj.command.Command;
   6
   7 /**
   8  *
   9  */
  10 public class ShooterTest extends Command {
  11
  12   public ShooterTest() {
  13
  14     requires(Robot.shooter);
  15   }
  16
  17   @Override
  18   protected void initialize() {
  19   }
  20
  21   @Override
  22   protected void execute() {
  23     boolean triggerPressed = Robot.oi.rightJoystick.getTrigger();
  24     boolean leftSidePressed = Robot.oi.leftSilverButton.get();
  25     boolean rightSidePressed = Robot.oi.rightSilverButton.get();
  26     boolean thumbPressed = Robot.oi.thumbButton.get();
  27
  28     double currentWheelSpeed = Robot.shooter.getCurrentSpeed();
  29
  30     if (triggerPressed == true) {
  31       Robot.shooter.setSpeed(currentWheelSpeed);
  32     } else {
  33       Robot.shooter.setSpeed(0.0);
  34     }
  35
  36     if (leftSidePressed == true) {
  37       Robot.shooter.setDecrementSpeed(0.1);
  38     }
  39
  40     if (rightSidePressed == true) {
  41       Robot.shooter.setIncrementSpeed(0.1);
  42     }
  43
  44     if (thumbPressed == true) {
  45       System.out.println(Robot.shooter.getCurrentSpeed());
  46     }
  47
  48   }
  49
  50   // Make this return true when this Command no longer needs to run execute()
  51   @Override
  52   protected boolean isFinished() {
  53     return false;
  54   }
  55
  56   // Called once after isFinished returns true
  57   @Override
  58   protected void end() {
  59   }
  60
  61   // Called when another command which requires one or more of the same
  62   // subsystems is scheduled to run
  63   @Override
  64   protected void interrupted() {
  65   }
  66 }