- public RunIndexWheelContinuous() {
-
- }
-
- // Called just before this Command runs the first time
- @Override
- protected void initialize() {
- }
-
- // Called repeatedly when this Command is scheduled to run
- @Override
- protected void execute() {
- }
-
- // Called once after isFinished returns true
- @Override
- protected void end() {
- }
-
- // Called when another command which requires one or more of the same
- // subsystems is scheduled to run
- @Override
- protected void interrupted() {
- }
-
- @Override
- protected boolean isFinished() {
- // TODO Auto-generated method stub
- return false;
- }
+ private Shooter shooter = Robot.getShooter();
+
+ private double previousMotorValue = 0;
+ private double targetMotorValue = shooter.DEFAULT_INDEXING_MOTOR_VALUE;
+
+ /**
+ * See JavaDoc comment in class for details
+ */
+ public RunIndexWheelContinuous() {
+ }
+
+ @Override
+ protected void initialize() {
+ }
+
+ @Override
+ protected void execute() {
+ double shooterSpeed = shooter.getShooterRPM();
+ double targetShooterSpeed = shooter.getTargetShootingSpeed();
+ double threshold = shooter.getRPMThreshold();
+ if (Math.abs(shooterSpeed - targetShooterSpeed) <= threshold) {
+ double motorValue = (6 * previousMotorValue + targetMotorValue) / 7;
+ previousMotorValue = motorValue;
+ shooter.setIndexWheelMotorVal(motorValue);
+ }
+ }
+
+ @Override
+ protected void end() {
+ shooter.stopIndexWheel();
+ }
+
+ @Override
+ protected void interrupted() {
+ end();
+ }
+
+ @Override
+ protected boolean isFinished() {
+ return false;
+ }