1 package org
.usfirst
.frc
.team3501
.robot
.commands
.shooter
;
3 import org
.usfirst
.frc
.team3501
.robot
.Constants
;
4 import org
.usfirst
.frc
.team3501
.robot
.Robot
;
5 import org
.usfirst
.frc
.team3501
.robot
.subsystems
.Shooter
;
6 import edu
.wpi
.first
.wpilibj
.Timer
;
7 import edu
.wpi
.first
.wpilibj
.command
.Command
;
10 * This command runs index wheel continuously when OI button managing index
11 * wheel is pressed. The command will run the index wheel motor until the button
12 * triggering it is released.
14 * Should only be run from the operator interface.
16 * pre-condition: This command must be run by a button in OI with
17 * button.whileHeld(...).
21 public class RunIndexWheelContinuous
extends Command
{
22 private Shooter shooter
= Robot
.getShooter();
23 private Timer t
= new Timer();
26 * See JavaDoc comment in class for details
28 public RunIndexWheelContinuous() {
33 protected void initialize() {
38 protected void execute() {
40 if (Shooter
.getShooter().getPistonValue() == Constants
.Shooter
.LOW_GEAR
) {
41 Shooter
.getShooter().setHighGear();
43 Shooter
.getShooter().setLowGear();
48 if (shooter
.isShooterRPMWithinRangeOfTargetSpeed(25))
49 shooter
.runIndexWheel();
54 protected void end() {
55 shooter
.stopIndexWheel();
59 protected void interrupted() {
64 protected boolean isFinished() {