add corrections

[3501/2017steamworks] / src / org / usfirst / frc / team3501 / robot / commands / shooter / ReverseIndexWheel.java

diff --git a/src/org/usfirst/frc/team3501/robot/commands/shooter/ReverseIndexWheel.java b/src/org/usfirst/frc/team3501/robot/commands/shooter/ReverseIndexWheel.java
index 4c745159b404f53c04a2a47c2866559aecd0fbb3..853dff694da97cfdbd487bb97b913125015a79f2 100644 (file)
--- a/src/org/usfirst/frc/team3501/robot/commands/shooter/ReverseIndexWheel.java
+++ b/src/org/usfirst/frc/team3501/robot/commands/shooter/ReverseIndexWheel.java
@@ -1,8 +1,8 @@
 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.Timer;
 import edu.wpi.first.wpilibj.command.Command;
 
 /**
@@ -13,9 +13,9 @@ import edu.wpi.first.wpilibj.command.Command;
  */
 
 public class ReverseIndexWheel extends Command {
-  Timer timer;
   private double time;
   private double motorVal;
+  private Shooter shooter = Robot.getShooter();
 
   /**
    * See JavaDoc comment in class for details
@@ -28,26 +28,24 @@ public class ReverseIndexWheel extends Command {
 
   public ReverseIndexWheel(double time, double motorVal) {
     requires(Robot.getDriveTrain());
-    timer = new Timer();
     this.time = time;
     this.motorVal = motorVal;
   }
 
   @Override
   protected void initialize() {
-    timer.start();
 
   }
 
   @Override
   protected void execute() {
-    Robot.getShooter().setIndexWheelMotorVal(-motorVal);
+    shooter.runIndexWheelReverse();
 
   }
 
   @Override
   protected boolean isFinished() {
-    return timer.get() >= time;
+    return timeSinceInitialized() >= time;
   }
 
   @Override