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code review changes and add code for braking cantalons
[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..815577e24d63cfde14158f23d4d66400b75a636e 100644
(file)
--- a/
src/org/usfirst/frc/team3501/robot/commands/shooter/RunIndexWheelContinuous.java
+++ b/
src/org/usfirst/frc/team3501/robot/commands/shooter/RunIndexWheelContinuous.java
@@
-22,36
+22,29
@@
public class RunIndexWheelContinuous extends Command {
/**
* See JavaDoc comment in class for details
/**
* See JavaDoc comment in class for details
- *
- * @param motorVal
- * value range from -1 to 1
*/
public RunIndexWheelContinuous() {
requires(shooter);
}
*/
public RunIndexWheelContinuous() {
requires(shooter);
}
- // Called just before this Command runs the first time
@Override
protected void initialize() {
}
@Override
protected void initialize() {
}
- // Called repeatedly when this Command is scheduled to run
@Override
protected void execute() {
double shooterSpeed = shooter.getShooterRPM();
@Override
protected void execute() {
double shooterSpeed = shooter.getShooterRPM();
- if (shooterSpeed > 0) {
- shooter.setIndexWheelMotorVal(shooter.DEFAULT_INDEXING_SPEED);
- }
+ double targetShooterSpeed = shooter.getTargetShootingSpeed();
+ double threshold = shooter.getRPMThreshold();
+ if (Math.abs(shooterSpeed - targetShooterSpeed) <= threshold)
+ shooter.runIndexWheel();
}
}
- // Called once after isFinished returns true
@Override
protected void end() {
shooter.stopIndexWheel();
}
@Override
protected void end() {
shooter.stopIndexWheel();
}
- // Called when another command which requires one or more of the same
- // subsystems is scheduled to run
@Override
protected void interrupted() {
end();
@Override
protected void interrupted() {
end();
@@
-60,7
+53,6
@@
public class RunIndexWheelContinuous extends Command {
@Override
protected boolean isFinished() {
return false;
@Override
protected boolean isFinished() {
return false;
-
}
}
}
}