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Add code to alternate pistons in runIndexWheelContinuous
[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 34c7e0b4edb4df3a35f671974ee5293d833782f9..31fda94b45258565c1682306f8c7ada60828c50b 100644
(file)
--- a/
src/org/usfirst/frc/team3501/robot/commands/shooter/RunIndexWheelContinuous.java
+++ b/
src/org/usfirst/frc/team3501/robot/commands/shooter/RunIndexWheelContinuous.java
@@
-1,5
+1,6
@@
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;
@@
-41,6
+42,14
@@
public class RunIndexWheelContinuous extends Command {
// 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.runIndexWheel();
double shooterSpeed = shooter.getShooterRPM();
if (shooterSpeed > 0)
shooter.runIndexWheel();