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=74a7d7047a4dd04524738231465b0aec7137927a;hpb=809609c90af820574d54545300485fd5e0ff85e7;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 74a7d70..6abb095 100644
--- a/src/org/usfirst/frc/team3501/robot/commands/shooter/RunIndexWheel.java
+++ b/src/org/usfirst/frc/team3501/robot/commands/shooter/RunIndexWheel.java
@@ -1,21 +1,66 @@
 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;
 
 /**
- * Runs index wheel at a given speed in () for input time in seconds
+ * This command runs index wheel at a given speed for given time in seconds.
+ *
+ * pre-condition: fly wheel is running at full speed to prepare for shooting
+ * fuel
  *
- * @param speed
- *            in ()
- * @param time
- *            in seconds
+ * @author Shaina
  */
 public class RunIndexWheel extends Command {
+  private Shooter shooter = Robot.getShooter();
+  private double time;
+
+  /**
+   * 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;
+  }
+
+  // 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() {
+    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() {
-		// TODO Auto-generated method stub
-		return false;
-	}
+  @Override
+  protected boolean isFinished() {
+    return timeSinceInitialized() >= time;
+  }
 
 }