+ double shooterSpeed = shooter.getShooterRPM();
+ double targetShooterSpeed = shooter.getTargetShootingSpeed();
+ double threshold = shooter.getRPMThreshold();
+ // if (Math.abs(shooterSpeed - targetShooterSpeed) <= threshold)
+
+ if (timeSinceInitialized() % 0.5 <= 0.02) {
+
+ if (Robot.getDriveTrain()
+ .getLeftGearPistonValue() == Constants.DriveTrain.LOW_GEAR) {
+ System.out.println("shifting to low gear " + timeSinceInitialized());
+ Robot.getDriveTrain().setHighGear();
+ } else {
+ System.out.println("shifting to high gear " + timeSinceInitialized());
+ Robot.getDriveTrain().setLowGear();
+ }
+ }
+ shooter.runIndexWheel();