Fix conflicts in ToggleGear

[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 815577e24d63cfde14158f23d4d66400b75a636e..062da20f01a5dd73c36a3dcfcd34f2c227f9a420 100644 (file)
--- a/src/org/usfirst/frc/team3501/robot/commands/shooter/RunIndexWheelContinuous.java
+++ b/src/org/usfirst/frc/team3501/robot/commands/shooter/RunIndexWheelContinuous.java
@@ -1,8 +1,13 @@
 package org.usfirst.frc.team3501.robot.commands.shooter;
 
 import org.usfirst.frc.team3501.robot.Robot;
+import org.usfirst.frc.team3501.robot.Constants;
 import org.usfirst.frc.team3501.robot.subsystems.Shooter;
+<<<<<<< HEAD
+=======
 
+>>>>>>> Remove getters for shift pistons
+import edu.wpi.first.wpilibj.Timer;
 import edu.wpi.first.wpilibj.command.Command;
 
 /**
@@ -19,6 +24,7 @@ import edu.wpi.first.wpilibj.command.Command;
  */
 public class RunIndexWheelContinuous extends Command {
   private Shooter shooter = Robot.getShooter();
+  private Timer t = new Timer();
 
   /**
    * See JavaDoc comment in class for details
@@ -29,15 +35,27 @@ public class RunIndexWheelContinuous extends Command {
 
   @Override
   protected void initialize() {
+<<<<<<< HEAD
+    t.start();
+=======
+    t.reset();
+>>>>>>> Remove getters for shift pistons
   }
 
   @Override
   protected void execute() {
-    double shooterSpeed = shooter.getShooterRPM();
-    double targetShooterSpeed = shooter.getTargetShootingSpeed();
-    double threshold = shooter.getRPMThreshold();
-    if (Math.abs(shooterSpeed - targetShooterSpeed) <= threshold)
+    if (t.get() > 1) {
+      if (Shooter.getShooter().getPistonValue() == Constants.Shooter.LOW_GEAR) {
+        Shooter.getShooter().setHighGear();
+      } else {
+        Shooter.getShooter().setLowGear();
+      }
+      t.reset();
+    }
+
+    if (shooter.isShooterRPMWithinRangeOfTargetSpeed(25))
       shooter.runIndexWheel();
+
   }
 
   @Override