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code review changes
[3501/2017steamworks]
/
src
/
org
/
usfirst
/
frc
/
team3501
/
robot
/
commands
/
shooter
/
RunFlyWheel.java
diff --git
a/src/org/usfirst/frc/team3501/robot/commands/shooter/RunFlyWheel.java
b/src/org/usfirst/frc/team3501/robot/commands/shooter/RunFlyWheel.java
index 6ac5d69f3e1934c557adde63add9c5a72d4c5982..5abd73afe9fc64c798762a7dca6a92fd2a5b7b64 100644
(file)
--- a/
src/org/usfirst/frc/team3501/robot/commands/shooter/RunFlyWheel.java
+++ b/
src/org/usfirst/frc/team3501/robot/commands/shooter/RunFlyWheel.java
@@
-2,59
+2,54
@@
package org.usfirst.frc.team3501.robot.commands.shooter;
import org.usfirst.frc.team3501.robot.Robot;
import org.usfirst.frc.team3501.robot.subsystems.Shooter;
import org.usfirst.frc.team3501.robot.Robot;
import org.usfirst.frc.team3501.robot.subsystems.Shooter;
+import org.usfirst.frc.team3501.robot.utils.PIDController;
import edu.wpi.first.wpilibj.command.Command;
/**
import edu.wpi.first.wpilibj.command.Command;
/**
- * This command runs the fly wheel at a given speed for a given time. The fly
- * wheel is intended to shoot balls fed by the intake wheel.
+ * This command runs the fly wheel continuously at a set speed using a PID
+ * Controller when OI button managing fly wheel is pressed. The command will run
+ * the fly wheel motor until the button triggering it is released.
*
*
- * @author Shaina
+ * Should only be run from the operator interface.
+ *
+ * pre-condition: This command must be run by a button in OI, with
+ * button.whileHeld(...).
+ *
+ * @author Shaina & Chris
*/
public class RunFlyWheel extends Command {
private Shooter shooter = Robot.getShooter();
*/
public class RunFlyWheel extends Command {
private Shooter shooter = Robot.getShooter();
- private double time;
-
- /**
- * See JavaDoc comment in class for details
- *
- * @param motorVal
- * value range from -1 to 1
- * @param time
- * in seconds, amount of time to run fly wheel motor
- */
+ double time;
+
+ private PIDController wheelController;
+
public RunFlyWheel(double time) {
public RunFlyWheel(double time) {
- requires(shooter);
this.time = time;
}
this.time = time;
}
- // Called just before this Command runs the first time
@Override
protected void initialize() {
@Override
protected void initialize() {
+ shooter.initializePIDController();
}
}
- // Called repeatedly when this Command is scheduled to run
@Override
protected void execute() {
@Override
protected void execute() {
- shooter.setFlyWheelMotorVal(shooter.
CURRENT_SHOOTING_SPEED
);
+ shooter.setFlyWheelMotorVal(shooter.
calculateShooterSpeed()
);
}
}
- // Called once after isFinished returns true
@Override
@Override
- protected
void en
d() {
-
shooter.stopFlyWheel()
;
+ protected
boolean isFinishe
d() {
+
return timeSinceInitialized() >= time
;
}
}
- // Called when another command which requires one or more of the same
- // subsystems is scheduled to run
@Override
@Override
- protected void
interrupte
d() {
-
end
();
+ protected void
en
d() {
+
this.shooter.stopFlyWheel
();
}
@Override
}
@Override
- protected
boolean isFinish
ed() {
-
return timeSinceInitialized() >= time
;
+ protected
void interrupt
ed() {
+
end()
;
}
}
-
}
}