Add timer for pistons

[3501/2017steamworks] / src / org / usfirst / frc / team3501 / robot / commands / shooter / RunIndexWheelContinuous.java

diff --git a/src/org/usfirst/frc/team3501/robot/commands/shooter/RunIndexWheelContinuous.java b/src/org/usfirst/frc/team3501/robot/commands/shooter/RunIndexWheelContinuous.java
index f958be7fa4788e067e93b225680d56045e08c532..34c7e0b4edb4df3a35f671974ee5293d833782f9 100644 (file)
--- a/src/org/usfirst/frc/team3501/robot/commands/shooter/RunIndexWheelContinuous.java
+++ b/src/org/usfirst/frc/team3501/robot/commands/shooter/RunIndexWheelContinuous.java
@@ -3,6 +3,7 @@ package org.usfirst.frc.team3501.robot.commands.shooter;
 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;
 
 /**
@@ -19,6 +20,7 @@ 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
@@ -33,15 +35,15 @@ public class RunIndexWheelContinuous extends Command {
   // 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() {
     double shooterSpeed = shooter.getShooterRPM();
-    if (shooterSpeed > 0) {
-      shooter.setIndexWheelMotorVal(shooter.DEFAULT_INDEXING_SPEED);
-    }
+    if (shooterSpeed > 0)
+      shooter.runIndexWheel();
   }
 
   // Called once after isFinished returns true