package org.usfirst.frc.team3501.robot.commands.shooter;
+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;
/**
- * Runs index wheel continuously until ________
+ * 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.
+ *
+ * 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 {
- public RunIndexWheelContinuous() {
-
- }
-
- // Called just before this Command runs the first time
- @Override
- protected void initialize() {
- }
-
- // Called repeatedly when this Command is scheduled to run
- @Override
- protected void execute() {
- }
-
- // Called once after isFinished returns true
- @Override
- protected void end() {
- }
-
- // Called when another command which requires one or more of the same
- // subsystems is scheduled to run
- @Override
- protected void interrupted() {
- }
-
- @Override
- protected boolean isFinished() {
- // TODO Auto-generated method stub
- return false;
- }
+ private Shooter shooter = Robot.getShooter();
+ private Timer t = new Timer();
+
+ /**
+ * See JavaDoc comment in class for details
+ *
+ * @param motorVal
+ * value range from -1 to 1
+ */
+ public RunIndexWheelContinuous() {
+ requires(shooter);
+ }
+
+ // Called just before this Command runs the first time
+ @Override
+ protected void initialize() {
+ t.start();
+ }
+
+ // Called repeatedly when this Command is scheduled to run
+ @Override
+ protected void execute() {
+
+ 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();
+ }
+
+ // 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 false;
+
+ }
}