Fixed conflict

[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 932e8453571534091963f90b9b84a2dabfcd1a33..48f3546560c895c1bf4a8ae681503aa694f19d94 100644 (file)
--- a/src/org/usfirst/frc/team3501/robot/commands/shooter/RunIndexWheelContinuous.java
+++ b/src/org/usfirst/frc/team3501/robot/commands/shooter/RunIndexWheelContinuous.java
@@ -1,8 +1,9 @@
 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;
 
 /**
@@ -19,47 +20,41 @@ import edu.wpi.first.wpilibj.command.Command;
  */
 public class RunIndexWheelContinuous extends Command {
   private Shooter shooter = Robot.getShooter();
-  // private Timer t = new Timer();
+  private Timer t = new Timer();
 
   /**
    * See JavaDoc comment in class for details
-   *
-   * @param motorVal
-   *          value range from -1 to 1
    */
   public RunIndexWheelContinuous() {
     requires(shooter);
-    // t.start();
   }
 
-  // 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() >= 4) { if (Shooter.getShooter().getPistonValue() ==
-     * Constants.Shooter.LOW_GEAR) { Shooter.getShooter().setHighGear(); } else
-     * { Shooter.getShooter().setLowGear(); } }
-     */
+    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();
+
   }
 
-  // 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();
@@ -68,7 +63,6 @@ public class RunIndexWheelContinuous extends Command {
   @Override
   protected boolean isFinished() {
     return false;
-
   }
 
 }