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     Robot.shooter.setSpeed(0.5);
  21
  22   }
  23
  24   @Override
  25   protected void execute() {
  26     boolean triggerPressed = Robot.oi.rightJoystick.getTrigger();
  27     boolean leftSidePressed = Robot.oi.leftSilverButton.get();
  28     boolean rightSidePressed = Robot.oi.rightSilverButton.get();
  29     boolean thumbPressed = Robot.oi.thumbButton.get();
  30
  31     double currentWheelSpeed = Robot.shooter.getCurrentSpeed();
  32
  33     if (triggerPressed == true) {
  34       Robot.shooter.setSpeed(currentWheelSpeed);
  35     } else {
  36       Robot.shooter.setSpeed(0.0);
  37     }
  38
  39     if (leftSidePressed == true) {
  40       Robot.shooter.decrementSpeed(0.1);
  41     }
  42
  43     if (rightSidePressed == true) {
  44       Robot.shooter.incrementSpeed(0.1);
  45     }
  46
  47     if (thumbPressed == true) {
  48       System.out.println(Robot.shooter.getCurrentSpeed());
  49     }
  50
  51   }
  52
  53   // Make this return true when this Command no longer needs to run execute()
  54   @Override
  55   protected boolean isFinished() {
  56     return false;
  57   }
  58
  59   // Called once after isFinished returns true
  60   @Override
  61   protected void end() {
  62   }
  63
  64   // Called when another command which requires one or more of the same
  65   // subsystems is scheduled to run
  66   @Override
  67   protected void interrupted() {
  68   }
  69 }