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shooter code review changes
[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 d3d49b841a3322514b344e72b401155a1050094b..da3fee1cb6bdfaf542cafe339e28d45e568ab90e 100644
(file)
--- a/
src/org/usfirst/frc/team3501/robot/commands/shooter/RunIndexWheelContinuous.java
+++ b/
src/org/usfirst/frc/team3501/robot/commands/shooter/RunIndexWheelContinuous.java
@@
-1,20
+1,24
@@
package org.usfirst.frc.team3501.robot.commands.shooter;
import org.usfirst.frc.team3501.robot.Robot;
package org.usfirst.frc.team3501.robot.commands.shooter;
import org.usfirst.frc.team3501.robot.Robot;
+import org.usfirst.frc.team3501.robot.subsystems.Shooter;
import edu.wpi.first.wpilibj.command.Command;
/**
import edu.wpi.first.wpilibj.command.Command;
/**
- * This command will run the index wheel motor continuously until the button
+ * This command runs index wheel continuously when OI button managing index
+ * wheel is pressed. The command will run the index wheel motor until the button
* triggering it is released.
*
* triggering it is released.
*
+ * Should only be run from the operator interface.
+ *
* pre-condition: This command must be run by a button in OI with
* button.whileHeld(...).
*
* @author Shaina
*/
public class RunIndexWheelContinuous extends Command {
* pre-condition: This command must be run by a button in OI with
* button.whileHeld(...).
*
* @author Shaina
*/
public class RunIndexWheelContinuous extends Command {
- private
double motorVal
;
+ private
Shooter shooter = Robot.getShooter()
;
/**
* See JavaDoc comment in class for details
/**
* See JavaDoc comment in class for details
@@
-22,25
+26,27
@@
public class RunIndexWheelContinuous extends Command {
* @param motorVal
* value range from -1 to 1
*/
* @param motorVal
* value range from -1 to 1
*/
- public RunIndexWheelContinuous(
double motorVal
) {
-
this.motorVal = motorVal
;
+ public RunIndexWheelContinuous() {
+
requires(shooter)
;
}
// 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() {
- Robot.getShooter().setIndexWheelMotorVal(motorVal);
}
// 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() {
+ double shooterSpeed = shooter.getShooterRPM();
+ if (shooterSpeed > 0)
+ shooter.runIndexWheel();
}
// Called once after isFinished returns true
@Override
protected void end() {
}
// Called once after isFinished returns true
@Override
protected void end() {
-
Robot.getShooter()
.stopIndexWheel();
+
shooter
.stopIndexWheel();
}
// Called when another command which requires one or more of the same
}
// Called when another command which requires one or more of the same
@@
-52,8
+58,8
@@
public class RunIndexWheelContinuous extends Command {
@Override
protected boolean isFinished() {
@Override
protected boolean isFinished() {
- // TODO
- return Robot.getOI().toggleIndexWheel.get();
+ return false;
+
}
}
}
}