X-Git-Url: http://challenge-bot.com/repos/?a=blobdiff_plain;f=src%2Forg%2Fusfirst%2Ffrc%2Fteam3501%2Frobot%2Fcommands%2Fshooter%2FRunFlyWheel.java;h=d68b13eca0b71d3cc3024769ac8f56777da1cbbe;hb=cf77d84e212b20171a5a3397b26fe7f98f4ba460;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..d68b13e 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 +1,68 @@
+
 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 at a given speed for a given time. The fly
+ * wheel is intended to shoot balls fed by the intake wheel.
  *
- * @param speed
- *            in ()
- * @param time
- *            in seconds
+ * @author Shaina & Chris
  */
 public class RunFlyWheel extends Command {
+  private Shooter shooter = Robot.getShooter();
+  private double maxTimeOut;
+
+  private PIDController wheelController;
+  private double wheelP;
+  private double wheelI;
+  private double wheelD;
+  private double target;
+
+  public RunFlyWheel(double maxTimeOut) {
+    requires(shooter);
+
+    this.wheelP = this.shooter.wheelP;
+    this.wheelI = this.shooter.wheelI;
+    this.wheelD = this.shooter.wheelD;
+    this.wheelController = new PIDController(this.wheelP, this.wheelI,
+        this.wheelD);
+    this.wheelController.setDoneRange(0.5);
+    this.wheelController.setMaxOutput(1.0);
+    this.wheelController.setMinDoneCycles(3);
+    this.target = this.shooter.CURRENT_SHOOTING_SPEED;
+  }
+
+  // Called just before this Command runs the first time
+  protected void initialize() {
+    this.wheelController.setSetPoint(this.target);
+  }
+
+  // Called repeatedly when this Command is scheduled to run
+  protected void execute() {
+    double shooterSpeed = this.wheelController
+        .calcPID(this.shooter.getShooterSpeed());
+
+    this.shooter.setFlyWheelMotorVal(shooterSpeed);
+  }
+
+  // Make this return true when this Command no longer needs to run execute()
+  protected boolean isFinished() {
+    return timeSinceInitialized() >= maxTimeOut;
+  }
 
-	@Override
-	protected boolean isFinished() {
-		// TODO Auto-generated method stub
-		return false;
-	}
+  // Called once after isFinished returns true
+  protected void end() {
+    this.shooter.stopFlyWheel();
+  }
 
+  // Called when another command which requires one or more of the same
+  // subsystems is scheduled to run
+  protected void interrupted() {
+    end();
+  }
 }