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
  27     double currentWheelSpeed = Robot.shooter.getCurrentSpeed();
  28
  29     if (triggerPressed = true) {
  30       Robot.shooter.setSpeed(currentWheelSpeed);
  31     } else {
  32       Robot.shooter.setSpeed(0.0);
  33     }
  34
  35     if (leftSidePressed = true) {
  36       Robot.shooter.setDecrementSpeed(0.1);
  37     }
  38
  39     if (rightSidePressed = true) {
  40       Robot.shooter.setIncrementSpeed(0.1);
  41     }
  42
  43   }
  44
  45   // Make this return true when this Command no longer needs to run execute()
  46   @Override
  47   protected boolean isFinished() {
  48     return false;
  49   }
  50
  51   // Called once after isFinished returns true
  52   @Override
  53   protected void end() {
  54   }
  55
  56   // Called when another command which requires one or more of the same
  57   // subsystems is scheduled to run
  58   @Override
  59   protected void interrupted() {
  60   }
  61 }