1 package org
.usfirst
.frc
.team3501
.robot
.commands
;
3 import org
.usfirst
.frc
.team3501
.robot
.Robot
;
5 import edu
.wpi
.first
.wpilibj
.command
.Command
;
10 public class ShooterTest
extends Command
{
12 public ShooterTest() {
14 requires(Robot
.shooter
);
18 protected void initialize() {
19 Robot
.shooter
.setSpeed(0.5);
23 protected void execute() {
24 boolean triggerPressed
= Robot
.oi
.rightJoystick
.getTrigger();
25 boolean leftSidePressed
= Robot
.oi
.leftSilverButton
.get();
26 boolean rightSidePressed
= Robot
.oi
.rightSilverButton
.get();
27 boolean thumbPressed
= Robot
.oi
.thumbButton
.get();
29 double currentWheelSpeed
= Robot
.shooter
.getCurrentSpeed();
31 if (triggerPressed
== true) {
32 Robot
.shooter
.setSpeed(currentWheelSpeed
);
34 Robot
.shooter
.setSpeed(0.0);
37 if (leftSidePressed
== true) {
38 Robot
.shooter
.decrementSpeed(0.1);
41 if (rightSidePressed
== true) {
42 Robot
.shooter
.incrementSpeed(0.1);
45 if (thumbPressed
== true) {
46 System
.out
.println(Robot
.shooter
.getCurrentSpeed());
51 // Make this return true when this Command no longer needs to run execute()
53 protected boolean isFinished() {
57 // Called once after isFinished returns true
59 protected void end() {
62 // Called when another command which requires one or more of the same
63 // subsystems is scheduled to run
65 protected void interrupted() {