Add code to toggle agitator pistons in RunIndexWheelContinuous

[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 83b66c08b0d8d8e31d3927489ae8fe4129cad5e3..e86f3ee03f5ec364538de5d033bd2d3ab1057362 100644 (file)
--- a/src/org/usfirst/frc/team3501/robot/commands/shooter/RunIndexWheelContinuous.java
+++ b/src/org/usfirst/frc/team3501/robot/commands/shooter/RunIndexWheelContinuous.java
@@ -1,7 +1,9 @@
 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;
 
 /**
@@ -17,7 +19,8 @@ import edu.wpi.first.wpilibj.command.Command;
  * @author Shaina
  */
 public class RunIndexWheelContinuous extends Command {
-  private double motorVal;
+  private Shooter shooter = Robot.getShooter();
+  private Timer t = new Timer();
 
   /**
    * See JavaDoc comment in class for details
@@ -25,24 +28,38 @@ public class RunIndexWheelContinuous extends Command {
    * @param motorVal
    *          value range from -1 to 1
    */
-  public RunIndexWheelContinuous(double motorVal) {
-    this.motorVal = motorVal;
+  public RunIndexWheelContinuous() {
+    requires(shooter);
   }
 
   // Called just before this Command runs the first time
   @Override
   protected void initialize() {
-    Robot.getShooter().setIndexWheelMotorVal(motorVal);
+    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();
+    }
+
+    double shooterSpeed = shooter.getShooterRPM();
+    if (shooterSpeed > 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
@@ -54,7 +71,8 @@ public class RunIndexWheelContinuous extends Command {
 
   @Override
   protected boolean isFinished() {
-    return Robot.getOI().toggleIndexWheel.get();
+    return false;
+
   }
 
 }