public class RunIndexWheelContinuous extends Command {
private Shooter shooter = Robot.getShooter();
+ private double previousMotorValue = 0;
+ private double targetMotorValue = shooter.DEFAULT_INDEXING_MOTOR_VALUE;
+
/**
* See JavaDoc comment in class for details
- *
- * @param motorVal
- * value range from -1 to 1
*/
public RunIndexWheelContinuous() {
-
}
- // Called just before this Command runs the first time
@Override
protected void initialize() {
- shooter.setIndexWheelMotorVal(shooter.CURRENT_SHOOTING_SPEED);
}
- // Called repeatedly when this Command is scheduled to run
@Override
protected void execute() {
+ double shooterSpeed = shooter.getShooterRPM();
+ double targetShooterSpeed = shooter.getTargetShootingSpeed();
+ double threshold = shooter.getRPMThreshold();
+ if (Math.abs(shooterSpeed - targetShooterSpeed) <= threshold) {
+ double motorValue = (6 * previousMotorValue + targetMotorValue) / 7;
+ previousMotorValue = motorValue;
+ shooter.setIndexWheelMotorVal(motorValue);
+ }
}
- // Called once after isFinished returns true
@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 boolean isFinished() {
- return Robot.getOI().toggleIndexWheel.get();
-
+ return false;
}
}