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;
/**
*/
public class RunIndexWheelContinuous extends Command {
private Shooter shooter = Robot.getShooter();
+ private Timer t = new Timer();
/**
* See JavaDoc comment in class for details
// Called just before this Command runs the first time
@Override
protected void initialize() {
+ t.reset();
}
// Called repeatedly when this Command is scheduled to run
@Override
protected void execute() {
- shooter.setIndexWheelMotorVal(shooter.DEFAULT_INDEXING_SPEED);
+ double shooterSpeed = shooter.getShooterRPM();
+ if (shooterSpeed > 0)
+ shooter.runIndexWheel();
}
// Called once after isFinished returns true