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code review changes
[3501/2017steamworks]
/
src
/
org
/
usfirst
/
frc
/
team3501
/
robot
/
commands
/
shooter
/
RunFlyWheelContinuous.java
diff --git
a/src/org/usfirst/frc/team3501/robot/commands/shooter/RunFlyWheelContinuous.java
b/src/org/usfirst/frc/team3501/robot/commands/shooter/RunFlyWheelContinuous.java
index ce77450e5fba276f5472035ad906f43166852692..86c31f7eecd523ebc2a274a6b4d1d58bb74d45ed 100644
(file)
--- a/
src/org/usfirst/frc/team3501/robot/commands/shooter/RunFlyWheelContinuous.java
+++ b/
src/org/usfirst/frc/team3501/robot/commands/shooter/RunFlyWheelContinuous.java
@@
-1,65
+1,53
@@
package org.usfirst.frc.team3501.robot.commands.shooter;
import org.usfirst.frc.team3501.robot.Robot;
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.utils.PIDController;
import edu.wpi.first.wpilibj.command.Command;
/**
import edu.wpi.first.wpilibj.command.Command;
/**
- * This command runs the fly wheel continuously
when OI button managing fly
- *
wheel is pressed. The command will run the fly wheel motor until the butto
n
- * triggering it is released.
+ * 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 ru
n
+ * t
he fly wheel motor until the button t
riggering it is released.
*
* Should only be run from the operator interface.
*
* pre-condition: This command must be run by a button in OI, with
* button.whileHeld(...).
*
*
* 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
+ * @author Shaina
& Chris
*/
public class RunFlyWheelContinuous extends Command {
*/
public class RunFlyWheelContinuous extends Command {
- private
double motorVal
;
+ private
Shooter shooter = Robot.getShooter()
;
- /**
- * See JavaDoc comment in class for details
- *
- * @param motorVal
- * value range from -1 to 1
- */
- public RunFlyWheelContinuous(double motorVal) {
- this.motorVal = motorVal;
+ private PIDController wheelController;
+
+ public RunFlyWheelContinuous() {
}
}
- // Called just before this Command runs the first time
@Override
protected void initialize() {
@Override
protected void initialize() {
-
Robot.getShooter().setFlyWheelMotorVal(motorVal
);
+
shooter.initializePIDController(
);
}
}
- // Called repeatedly when this Command is scheduled to run
@Override
protected void execute() {
@Override
protected void execute() {
+ shooter.setFlyWheelMotorVal(shooter.calculateShooterSpeed());
}
}
- // Called once after isFinished returns true
@Override
@Override
- protected void end() {
+ protected boolean isFinished() {
+ return false;
}
}
- // 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 isFinished() {
-<<<<<<< 7fe535d58b388a1d87b3728095d8a38786865468
- return false;
-=======
- // TODO
- return !Robot.getOI().toggleFlyWheel.get();
->>>>>>> Add buttons to OI class
+ protected void interrupted() {
+ end();
}
}
-
}
}