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() {
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();
27 double currentWheelSpeed
= Robot
.shooter
.getCurrentSpeed();
29 if (triggerPressed
= true) {
30 Robot
.shooter
.setSpeed(currentWheelSpeed
);
32 Robot
.shooter
.setSpeed(0.0);
35 if (leftSidePressed
= true) {
36 Robot
.shooter
.setDecrementSpeed(0.1);
39 if (rightSidePressed
= true) {
40 Robot
.shooter
.setIncrementSpeed(0.1);
45 // Make this return true when this Command no longer needs to run execute()
47 protected boolean isFinished() {
51 // Called once after isFinished returns true
53 protected void end() {
56 // Called when another command which requires one or more of the same
57 // subsystems is scheduled to run
59 protected void interrupted() {