package org.usfirst.frc.team3501.robot.commands.shooter;
+import org.usfirst.frc.team3501.robot.Robot;
+import org.usfirst.frc.team3501.robot.Constants;
+import org.usfirst.frc.team3501.robot.subsystems.Shooter;
+import edu.wpi.first.wpilibj.Timer;
import edu.wpi.first.wpilibj.command.Command;
/**
- * This command will run the index wheel motor continuously until the button
+ * 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.
*
+ * Should only be run from the operator interface.
+ *
* pre-condition: This command must be run by a button in OI with
* button.whileHeld(...).
*
- * @param motorVal
- * [-1,1]
- * @author shaina
+ * @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))
+ 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