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;
/**
* See JavaDoc comment in class for details
- *
- * @param motorVal
- * value range from -1 to 1
*/
public RunIndexWheelContinuous() {
requires(shooter);
- // t.start();
}
- // 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() >= 4) { 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))
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;
-
}
}