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
- *
- * @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.start();
}
- // Called repeatedly when this Command is scheduled to run
@Override
protected void execute() {
- shooter.setIndexWheelMotorVal(shooter.DEFAULT_INDEXING_SPEED);
+ 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))
+ 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
protected boolean isFinished() {
return false;
-
}
}