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 66ccb3dfbb3c3f147d588e37c5274304bd4ec00e..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
@@ -1,40 +1,60 @@
 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;
 
 /**
- * Runs index wheel continuously when corresponding button is pressed
+ * This command runs index wheel continuously when OI button managing index
+ * wheel is pressed. The command will run the index wheel motor until the button
+ * triggering it is released.
  *
- * @param motorVal
- *          [-1,1]
- * @author shaina
+ * Should only be run from the operator interface.
+ *
+ * pre-condition: This command must be run by a button in OI with
+ * button.whileHeld(...).
+ *
+ * @author Shaina
  */
 public class RunIndexWheelContinuous extends Command {
-  private double motorVal;
+  private Shooter shooter = Robot.getShooter();
+  private Timer t = new Timer();
 
-  public RunIndexWheelContinuous(double motorVal) {
-    this.motorVal = motorVal;
+  /**
+   * See JavaDoc comment in class for details
+   */
+  public RunIndexWheelContinuous() {
+    requires(shooter);
   }
 
-  // Called just before this Command runs the first time
   @Override
   protected void initialize() {
+    t.start();
   }
 
-  // Called repeatedly when this Command is scheduled to run
   @Override
   protected void execute() {
+    /*
+     * if (t.get() >= 1) { if (Shooter.getShooter().getPistonValue() ==
+     * Constants.Shooter.LOW_GEAR) { Shooter.getShooter().setHighGear(); } else
+     * { Shooter.getShooter().setLowGear(); } t.reset(); }
+     */
+
+    // 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();
   }
 
   @Override