X-Git-Url: http://challenge-bot.com/repos/?a=blobdiff_plain;f=src%2Forg%2Fusfirst%2Ffrc%2Fteam3501%2Frobot%2Fcommands%2Fshooter%2FReverseIndexWheelContinuous.java;h=6c6400efb4c9a8fc6dc093420e9820678ef02a93;hb=f74d236db406193b851bff99e4daec7b7abf35e7;hp=79a0f237f18e368ea6dc165e5e525f60b00c44e0;hpb=5c1a9af18efcd2cea4d52d361421e6b9b90ac7f7;p=3501%2F2017steamworks

diff --git a/src/org/usfirst/frc/team3501/robot/commands/shooter/ReverseIndexWheelContinuous.java b/src/org/usfirst/frc/team3501/robot/commands/shooter/ReverseIndexWheelContinuous.java
index 79a0f23..6c6400e 100644
--- a/src/org/usfirst/frc/team3501/robot/commands/shooter/ReverseIndexWheelContinuous.java
+++ b/src/org/usfirst/frc/team3501/robot/commands/shooter/ReverseIndexWheelContinuous.java
@@ -20,6 +20,9 @@ import edu.wpi.first.wpilibj.command.Command;
 public class ReverseIndexWheelContinuous extends Command {
   private Shooter shooter = Robot.getShooter();
 
+  private double previousMotorValue = 0;
+  private double targetMotorValue = -shooter.DEFAULT_INDEXING_MOTOR_VALUE;
+
   /**
    * See JavaDoc comment in class for details
    *
@@ -27,7 +30,6 @@ public class ReverseIndexWheelContinuous extends Command {
    *          value range from -1 to 1
    */
   public ReverseIndexWheelContinuous() {
-    requires(shooter);
   }
 
   // Called just before this Command runs the first time
@@ -38,12 +40,15 @@ public class ReverseIndexWheelContinuous extends Command {
   // Called repeatedly when this Command is scheduled to run
   @Override
   protected void execute() {
-    shooter.setIndexWheelMotorVal(shooter.DEFAULT_INDEXING_SPEED * -1);
+    double motorValue = (6 * previousMotorValue + targetMotorValue) / 7;
+    previousMotorValue = motorValue;
+    shooter.setIndexWheelMotorVal(motorValue);
   }
 
   // Called once after isFinished returns true
   @Override
   protected void end() {
+    shooter.stopIndexWheel();
   }
 
   // Called when another command which requires one or more of the same