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=ef0c2e3a2223777359dbbd1cfc8b6598c3740c2f;hpb=f21e65b401a96a45d0cec83b3443464bfb107c14;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 ef0c2e3..f751f5b 100644
--- a/src/org/usfirst/frc/team3501/robot/commands/shooter/RunFlyWheelContinuous.java
+++ b/src/org/usfirst/frc/team3501/robot/commands/shooter/RunFlyWheelContinuous.java
@@ -1,37 +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 until ________
+ * 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 & Chris
  */
 public class RunFlyWheelContinuous extends Command {
-
-	// Called just before this Command runs the first time
-	@Override
-	protected void initialize() {
-	}
-
-	// Called repeatedly when this Command is scheduled to run
-	@Override
-	protected void execute() {
-	}
-
-	// Called once after isFinished returns true
-	@Override
-	protected void end() {
-	}
-
-	// Called when another command which requires one or more of the same
-	// subsystems is scheduled to run
-	@Override
-	protected void interrupted() {
-	}
-
-	@Override
-	protected boolean isFinished() {
-		// TODO Auto-generated method stub
-		return false;
-	}
-
+  private Shooter shooter = Robot.getShooter();
+
+  private PIDController wheelController;
+
+  public RunFlyWheelContinuous() {
+    requires(shooter);
+  }
+
+  @Override
+  protected void initialize() {
+    shooter.initializePIDController();
+  }
+
+  @Override
+  protected void execute() {
+    shooter.setFlyWheelMotorVal(shooter.calculateShooterSpeed());
+  }
+
+  @Override
+  protected boolean isFinished() {
+    return false;
+  }
+
+  @Override
+  protected void end() {
+    this.shooter.stopFlyWheel();
+  }
+
+  @Override
+  protected void interrupted() {
+    end();
+  }
 }