X-Git-Url: http://challenge-bot.com/repos/?a=blobdiff_plain;f=src%2Forg%2Fusfirst%2Ffrc%2Fteam3501%2Frobot%2Fcommands%2Fshooter%2FRunFlyWheelContinuous.java;h=5e65b3d3a57adad7d08c8ea9c96859c0c56b2af6;hb=cf77d84e212b20171a5a3397b26fe7f98f4ba460;hp=c2949386ee0f01eb7a149950b22a7124f223f44a;hpb=809609c90af820574d54545300485fd5e0ff85e7;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 c294938..5e65b3d 100644
--- a/src/org/usfirst/frc/team3501/robot/commands/shooter/RunFlyWheelContinuous.java
+++ b/src/org/usfirst/frc/team3501/robot/commands/shooter/RunFlyWheelContinuous.java
@@ -1,16 +1,74 @@
 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 fly wheel continuously until ________
+ * 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.
+ *
+ * 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
  */
 public class RunFlyWheelContinuous extends Command {
+  private Shooter shooter = Robot.getShooter();
+
+  private PIDController wheelController;
+  private double wheelP;
+  private double wheelI;
+  private double wheelD;
+  private double target;
+
+  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.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 false;
+  }
 
-	@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();
+  }
 }