X-Git-Url: http://challenge-bot.com/repos/?a=blobdiff_plain;ds=sidebyside;f=src%2Forg%2Fusfirst%2Ffrc%2Fteam3501%2Frobot%2Fcommands%2Fshooter%2FRunFlyWheel.java;h=5abd73afe9fc64c798762a7dca6a92fd2a5b7b64;hb=7ba6bc91b8cf7205e05cdb974dc80fdd668ebe59;hp=6a6e9502ed0332f116e0611f8b148b11c3b0897a;hpb=809609c90af820574d54545300485fd5e0ff85e7;p=3501%2F2017steamworks

diff --git a/src/org/usfirst/frc/team3501/robot/commands/shooter/RunFlyWheel.java b/src/org/usfirst/frc/team3501/robot/commands/shooter/RunFlyWheel.java
index 6a6e950..5abd73a 100644
--- a/src/org/usfirst/frc/team3501/robot/commands/shooter/RunFlyWheel.java
+++ b/src/org/usfirst/frc/team3501/robot/commands/shooter/RunFlyWheel.java
@@ -1,21 +1,55 @@
 package org.usfirst.frc.team3501.robot.commands.shooter;
 
+import org.usfirst.frc.team3501.robot.Robot;
+import org.usfirst.frc.team3501.robot.subsystems.Shooter;
+import org.usfirst.frc.team3501.robot.utils.PIDController;
+
 import edu.wpi.first.wpilibj.command.Command;
 
 /**
- * Runs the fly wheel at a given speed in () for input time in seconds
+ * This command runs the fly wheel continuously at a set speed using a PID
+ * Controller when OI button managing fly wheel is pressed. The command will run
+ * the fly wheel motor until the button triggering it is released.
+ *
+ * Should only be run from the operator interface.
  *
- * @param speed
- *            in ()
- * @param time
- *            in seconds
+ * pre-condition: This command must be run by a button in OI, with
+ * button.whileHeld(...).
+ *
+ * @author Shaina & Chris
  */
 public class RunFlyWheel extends Command {
+  private Shooter shooter = Robot.getShooter();
+  double time;
+
+  private PIDController wheelController;
+
+  public RunFlyWheel(double time) {
+    this.time = time;
+  }
+
+  @Override
+  protected void initialize() {
+    shooter.initializePIDController();
+  }
+
+  @Override
+  protected void execute() {
+    shooter.setFlyWheelMotorVal(shooter.calculateShooterSpeed());
+  }
+
+  @Override
+  protected boolean isFinished() {
+    return timeSinceInitialized() >= time;
+  }
 
-	@Override
-	protected boolean isFinished() {
-		// TODO Auto-generated method stub
-		return false;
-	}
+  @Override
+  protected void end() {
+    this.shooter.stopFlyWheel();
+  }
 
+  @Override
+  protected void interrupted() {
+    end();
+  }
 }