X-Git-Url: http://challenge-bot.com/repos/?a=blobdiff_plain;f=src%2Forg%2Fusfirst%2Ffrc%2Fteam3501%2Frobot%2Fcommands%2Fshooter%2FRunFlyWheelContinuous.java;h=f751f5be6097237477c651215a700b360b1e6dc2;hb=f74d236db406193b851bff99e4daec7b7abf35e7;hp=c1a316502873df4e42f8ce2c19f69b8595df1084;hpb=b6e975605844ad7bc608fd879840c89a5c1a3bdb;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 c1a3165..f751f5b 100644
--- a/src/org/usfirst/frc/team3501/robot/commands/shooter/RunFlyWheelContinuous.java
+++ b/src/org/usfirst/frc/team3501/robot/commands/shooter/RunFlyWheelContinuous.java
@@ -1,45 +1,54 @@
 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 when corresponding button pressed
+ * 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 motorVal
- *          motor value
- * @author shaina
+ * pre-condition: This command must be run by a button in OI, with
+ * button.whileHeld(...).
+ *
+ * @author Shaina & Chris
  */
 public class RunFlyWheelContinuous extends Command {
-  private double motorVal;
+  private Shooter shooter = Robot.getShooter();
+
+  private PIDController wheelController;
 
-  public RunFlyWheelContinuous(double motorVal) {
-    this.motorVal = motorVal;
+  public RunFlyWheelContinuous() {
+    requires(shooter);
   }
 
-  // Called just before this Command runs the first time
   @Override
   protected void initialize() {
+    shooter.initializePIDController();
   }
 
-  // Called repeatedly when this Command is scheduled to run
   @Override
   protected void execute() {
+    shooter.setFlyWheelMotorVal(shooter.calculateShooterSpeed());
   }
 
-  // Called once after isFinished returns true
   @Override
-  protected void end() {
+  protected boolean isFinished() {
+    return false;
   }
 
-  // Called when another command which requires one or more of the same
-  // subsystems is scheduled to run
   @Override
-  protected void interrupted() {
+  protected void end() {
+    this.shooter.stopFlyWheel();
   }
 
   @Override
-  protected boolean isFinished() {
-    return false;
+  protected void interrupted() {
+    end();
   }
-
 }