X-Git-Url: http://challenge-bot.com/repos/?a=blobdiff_plain;f=src%2Forg%2Fusfirst%2Ffrc%2Fteam3501%2Frobot%2Fcommands%2Fshooter%2FRunIndexWheel.java;h=6abb095b60a0a5ac74de61627244f479ae2248f6;hb=7ba6bc91b8cf7205e05cdb974dc80fdd668ebe59;hp=5d330700750d82048ce6fc9e3028f9e260e62416;hpb=a149fd6464625f6abf7398139259e6bc5fb735d4;p=3501%2F2017steamworks

diff --git a/src/org/usfirst/frc/team3501/robot/commands/shooter/RunIndexWheel.java b/src/org/usfirst/frc/team3501/robot/commands/shooter/RunIndexWheel.java
index 5d33070..6abb095 100644
--- a/src/org/usfirst/frc/team3501/robot/commands/shooter/RunIndexWheel.java
+++ b/src/org/usfirst/frc/team3501/robot/commands/shooter/RunIndexWheel.java
@@ -1,5 +1,8 @@
 package org.usfirst.frc.team3501.robot.commands.shooter;
 
+import org.usfirst.frc.team3501.robot.Robot;
+import org.usfirst.frc.team3501.robot.subsystems.Shooter;
+
 import edu.wpi.first.wpilibj.command.Command;
 
 /**
@@ -8,19 +11,22 @@ import edu.wpi.first.wpilibj.command.Command;
  * pre-condition: fly wheel is running at full speed to prepare for shooting
  * fuel
  *
- *
- * @param motorVal
- *          value range is from -1 to 1
- * @param time
- *          in seconds
- * @author shaina
+ * @author Shaina
  */
 public class RunIndexWheel extends Command {
+  private Shooter shooter = Robot.getShooter();
   private double time;
-  private double motorVal;
 
-  public RunIndexWheel(double motorVal, double time) {
-    this.motorVal = motorVal;
+  /**
+   * See JavaDoc comment in class for details
+   *
+   * @param motorVal
+   *          value range from -1 to 1
+   * @param time
+   *          in seconds, amount of time to run index wheel motor
+   */
+  public RunIndexWheel(double time) {
+    requires(shooter);
     this.time = time;
   }
 
@@ -32,22 +38,29 @@ public class RunIndexWheel extends Command {
   // Called repeatedly when this Command is scheduled to run
   @Override
   protected void execute() {
+    double shooterSpeed = shooter.getShooterRPM();
+    double targetShooterSpeed = shooter.getTargetShootingSpeed();
+    double threshold = shooter.getRPMThreshold();
+    if (Math.abs(shooterSpeed - targetShooterSpeed) <= threshold)
+      shooter.runIndexWheel();
   }
 
   // Called once after isFinished returns true
   @Override
   protected void end() {
+    shooter.stopIndexWheel();
   }
 
   // Called when another command which requires one or more of the same
   // subsystems is scheduled to run
   @Override
   protected void interrupted() {
+    end();
   }
 
   @Override
   protected boolean isFinished() {
-    return false;
+    return timeSinceInitialized() >= time;
   }
 
 }