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;
/**
* @author Shaina
*/
public class RunIndexWheelContinuous extends Command {
- private double motorVal;
+ 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(double motorVal) {
- this.motorVal = motorVal;
+ public RunIndexWheelContinuous() {
+ requires(shooter);
}
// Called just before this Command runs the first time
@Override
protected void initialize() {
- Robot.getShooter().setIndexWheelMotorVal(motorVal);
+ t.reset();
}
// Called repeatedly when this Command is scheduled to run
@Override
protected void execute() {
+ if (t.get() % 1 == 0) {
+ if (Shooter.getShooter().getPistonValue() == Constants.Shooter.LOW_GEAR) {
+ Shooter.getShooter().setHighGear();
+ } else {
+ Shooter.getShooter().setLowGear();
+ }
+ }
+
+ double shooterSpeed = shooter.getShooterRPM();
+ if (shooterSpeed > 0)
+ 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
@Override
protected boolean isFinished() {
return false;
+
}
}