1 package org
.usfirst
.frc
.team3501
.robot
.commands
.shooter
;
3 import org
.usfirst
.frc
.team3501
.robot
.Robot
;
4 import org
.usfirst
.frc
.team3501
.robot
.Constants
;
5 import org
.usfirst
.frc
.team3501
.robot
.subsystems
.Shooter
;
9 >>>>>>> Remove getters
for shift pistons
10 import edu
.wpi
.first
.wpilibj
.Timer
;
11 import edu
.wpi
.first
.wpilibj
.command
.Command
;
14 * This command runs index wheel continuously when OI button managing index
15 * wheel is pressed. The command will run the index wheel motor until the button
16 * triggering it is released.
18 * Should only be run from the operator interface.
20 * pre-condition: This command must be run by a button in OI with
21 * button.whileHeld(...).
25 public class RunIndexWheelContinuous
extends Command
{
26 private Shooter shooter
= Robot
.getShooter();
27 private Timer t
= new Timer();
30 * See JavaDoc comment in class for details
32 public RunIndexWheelContinuous() {
37 protected void initialize() {
42 >>>>>>> Remove getters
for shift pistons
46 protected void execute() {
48 if (Shooter
.getShooter().getPistonValue() == Constants
.Shooter
.LOW_GEAR
) {
49 Shooter
.getShooter().setHighGear();
51 Shooter
.getShooter().setLowGear();
56 if (shooter
.isShooterRPMWithinRangeOfTargetSpeed(25))
57 shooter
.runIndexWheel();
62 protected void end() {
63 shooter
.stopIndexWheel();
67 protected void interrupted() {
72 protected boolean isFinished() {