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;
/**
*/
public class RunIndexWheelContinuous extends Command {
private Shooter shooter = Robot.getShooter();
+ private Timer t = new Timer();
/**
* See JavaDoc comment in class for details
@Override
protected void initialize() {
+ t.start();
}
@Override
protected void execute() {
- if (timeSinceInitialized() % 0.5 <= 0.02) {
+ 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();
- double targetShooterSpeed = shooter.getTargetShootingSpeed();
- double threshold = shooter.getRPMThreshold();
- if (Math.abs(shooterSpeed - targetShooterSpeed) <= threshold)
+ if (shooter.isShooterRPMWithinRangeOfTargetSpeed(25))
shooter.runIndexWheel();
+
}
@Override