import org.usfirst.frc.team3501.robot.Constants;
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;
// Called just before this Command runs the first time
@Override
protected void initialize() {
- t.reset();
+ t.start();
}
// Called repeatedly when this Command is scheduled to run
@Override
protected void execute() {
- if (t.get() % 1 == 0) {
+
+ if (t.get() >= 1) {
if (Shooter.getShooter().getPistonValue() == Constants.Shooter.LOW_GEAR) {
Shooter.getShooter().setHighGear();
} else {
Shooter.getShooter().setLowGear();
}
+ t.reset();
}
- double shooterSpeed = shooter.getShooterRPM();
- if (shooterSpeed > 0)
+ if (shooter.isShooterRPMWithinRangeOfTargetSpeed(25))
shooter.runIndexWheel();
}