X-Git-Url: http://challenge-bot.com/repos/?a=blobdiff_plain;f=src%2Forg%2Fusfirst%2Ffrc%2Fteam3501%2Frobot%2Fcommands%2Fshooter%2FRunFlyWheelContinuous.java;h=047fad40885a8e2f5caad590004cab64493dc5bb;hb=e32379867a61eb104544b90d917b7ab48d704e25;hp=5e65b3d3a57adad7d08c8ea9c96859c0c56b2af6;hpb=cf77d84e212b20171a5a3397b26fe7f98f4ba460;p=3501%2F2017steamworks

diff --git a/src/org/usfirst/frc/team3501/robot/commands/shooter/RunFlyWheelContinuous.java b/src/org/usfirst/frc/team3501/robot/commands/shooter/RunFlyWheelContinuous.java
index 5e65b3d..047fad4 100644
--- a/src/org/usfirst/frc/team3501/robot/commands/shooter/RunFlyWheelContinuous.java
+++ b/src/org/usfirst/frc/team3501/robot/commands/shooter/RunFlyWheelContinuous.java
@@ -7,16 +7,16 @@ import org.usfirst.frc.team3501.robot.utils.PIDController;
 import edu.wpi.first.wpilibj.command.Command;
 
 /**
- * This command runs the fly wheel continuously when OI button managing fly
- * wheel is pressed. The command will run the fly wheel motor until the button
- * triggering it is released.
+ * 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.
  *
  * pre-condition: This command must be run by a button in OI, with
  * button.whileHeld(...).
  *
- * @author Shaina
+ * @author Shaina & Chris
  */
 public class RunFlyWheelContinuous extends Command {
   private Shooter shooter = Robot.getShooter();
@@ -26,48 +26,48 @@ public class RunFlyWheelContinuous extends Command {
   private double wheelI;
   private double wheelD;
   private double target;
+  double shooterSpeed = 0;
 
   public RunFlyWheelContinuous() {
-    // Use requires() here to declare subsystem dependencies
-    // eg. requires(chassis);
-    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.setDoneRange(10);
     this.wheelController.setMaxOutput(1.0);
     this.wheelController.setMinDoneCycles(3);
-    this.target = this.shooter.CURRENT_SHOOTING_SPEED;
+    this.target = 2700;
   }
 
-  // Called just before this Command runs the first time
+  @Override
   protected void initialize() {
     this.wheelController.setSetPoint(this.target);
   }
 
-  // Called repeatedly when this Command is scheduled to run
+  @Override
   protected void execute() {
-    double shooterSpeed = this.wheelController
-        .calcPID(this.shooter.getShooterSpeed());
-
-    this.shooter.setFlyWheelMotorVal(shooterSpeed);
+    double calculatedShooterIncrement = this.wheelController
+        .calcPID(this.shooter.getShooterRPM());
+    shooterSpeed += calculatedShooterIncrement;
+    if (shooterSpeed > 1.0)
+      this.shooter.setFlyWheelMotorVal(1.0);
+    else
+      this.shooter.setFlyWheelMotorVal(shooterSpeed);
+    // this.shooter.setFlyWheelMotorVal(this.shooter.CURRENT_SHOOTING_SPEED);
   }
 
-  // Make this return true when this Command no longer needs to run execute()
+  @Override
   protected boolean isFinished() {
     return false;
   }
 
-  // Called once after isFinished returns true
+  @Override
   protected void end() {
     this.shooter.stopFlyWheel();
   }
 
-  // Called when another command which requires one or more of the same
-  // subsystems is scheduled to run
+  @Override
   protected void interrupted() {
     end();
   }