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Add code to alternate piston values every second while the index wheel is running...
[3501/2017steamworks]
/
src
/
org
/
usfirst
/
frc
/
team3501
/
robot
/
commands
/
shooter
/
RunIndexWheelContinuous.java
diff --git
a/src/org/usfirst/frc/team3501/robot/commands/shooter/RunIndexWheelContinuous.java
b/src/org/usfirst/frc/team3501/robot/commands/shooter/RunIndexWheelContinuous.java
index f958be7fa4788e067e93b225680d56045e08c532..4ba29d0fef26e58639d4a6a49c4d377b3c27abff 100644
(file)
--- a/
src/org/usfirst/frc/team3501/robot/commands/shooter/RunIndexWheelContinuous.java
+++ b/
src/org/usfirst/frc/team3501/robot/commands/shooter/RunIndexWheelContinuous.java
@@
-1,8
+1,10
@@
package org.usfirst.frc.team3501.robot.commands.shooter;
package org.usfirst.frc.team3501.robot.commands.shooter;
+import org.usfirst.frc.team3501.robot.Constants;
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 edu.wpi.first.wpilibj.Timer;
import edu.wpi.first.wpilibj.command.Command;
/**
import edu.wpi.first.wpilibj.command.Command;
/**
@@
-19,6
+21,7
@@
import edu.wpi.first.wpilibj.command.Command;
*/
public class RunIndexWheelContinuous extends Command {
private Shooter shooter = Robot.getShooter();
*/
public class RunIndexWheelContinuous extends Command {
private Shooter shooter = Robot.getShooter();
+ private Timer t = new Timer();
/**
* See JavaDoc comment in class for details
/**
* See JavaDoc comment in class for details
@@
-33,11
+36,20
@@
public class RunIndexWheelContinuous extends Command {
// Called just before this Command runs the first time
@Override
protected void initialize() {
// Called just before this Command runs the first time
@Override
protected void initialize() {
+ t.reset();
}
// Called repeatedly when this Command is scheduled to run
@Override
protected void execute() {
}
// Called repeatedly when this Command is scheduled to run
@Override
protected void execute() {
+ if (t.get() % 1 == 0) {
+ if (Shooter.getShooter().getPistonValue() == Constants.Shooter.LOW_GEAR) {
+ Shooter.getShooter().setHighGear();
+ } else {
+ Shooter.getShooter().setLowGear();
+ }
+ }
+
double shooterSpeed = shooter.getShooterRPM();
if (shooterSpeed > 0) {
shooter.setIndexWheelMotorVal(shooter.DEFAULT_INDEXING_SPEED);
double shooterSpeed = shooter.getShooterRPM();
if (shooterSpeed > 0) {
shooter.setIndexWheelMotorVal(shooter.DEFAULT_INDEXING_SPEED);