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;
/**
*/
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() {
- double shooterSpeed = shooter.getShooterRPM();
- double targetShooterSpeed = shooter.getTargetShootingSpeed();
- double threshold = shooter.getRPMThreshold();
- // if (Math.abs(shooterSpeed - targetShooterSpeed) <= threshold)
+ /*
+ * if (t.get() >= 1) { if (Shooter.getShooter().getPistonValue() ==
+ * Constants.Shooter.LOW_GEAR) { Shooter.getShooter().setHighGear(); } else
+ * { Shooter.getShooter().setLowGear(); } t.reset(); }
+ */
- if (timeSinceInitialized() % 0.5 <= 0.02) {
+ // if (shooter.isShooterRPMWithinRangeOfTargetSpeed(25))
+ if (shooter.getShooterRPM() > 0)
+ shooter.runIndexWheel();
- if (Robot.getDriveTrain()
- .getLeftGearPistonValue() == Constants.DriveTrain.LOW_GEAR) {
- System.out.println("shifting to low gear " + timeSinceInitialized());
- Robot.getDriveTrain().setHighGear();
- } else {
- System.out.println("shifting to high gear " + timeSinceInitialized());
- Robot.getDriveTrain().setLowGear();
- }
- }
- shooter.runIndexWheel();
}
@Override
@Override
protected boolean isFinished() {
return false;
-
}
}