Fix code changes

[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 31fda94b45258565c1682306f8c7ada60828c50b..c3a23e5820bd7c8c1f2a05b49c7a9bb471db39ef 100644 (file)
--- a/src/org/usfirst/frc/team3501/robot/commands/shooter/RunIndexWheelContinuous.java
+++ b/src/org/usfirst/frc/team3501/robot/commands/shooter/RunIndexWheelContinuous.java
@@ -1,9 +1,7 @@
 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;
 
@@ -25,44 +23,35 @@ public class RunIndexWheelContinuous extends Command {
 
   /**
    * See JavaDoc comment in class for details
-   *
-   * @param motorVal
-   *          value range from -1 to 1
    */
   public RunIndexWheelContinuous() {
     requires(shooter);
   }
 
-  // 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() % 1 == 0) {
-      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))
+    if (shooter.getShooterRPM() > 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
-  // subsystems is scheduled to run
   @Override
   protected void interrupted() {
     end();
@@ -71,7 +60,6 @@ public class RunIndexWheelContinuous extends Command {
   @Override
   protected boolean isFinished() {
     return false;
-
   }
 
 }