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=a240d3ec7574ea1cd9e0dbd42a89b940f204d6eb;hpb=5b1f2bc57ba92c51d77f7dd0a59a7c84c2726c76;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 a240d3e..6abb095 100644
--- a/src/org/usfirst/frc/team3501/robot/commands/shooter/RunIndexWheel.java
+++ b/src/org/usfirst/frc/team3501/robot/commands/shooter/RunIndexWheel.java
@@ -1,8 +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.Timer;
 import edu.wpi.first.wpilibj.command.Command;
 
 /**
@@ -14,9 +14,8 @@ import edu.wpi.first.wpilibj.command.Command;
  * @author Shaina
  */
 public class RunIndexWheel extends Command {
-  Timer timer;
+  private Shooter shooter = Robot.getShooter();
   private double time;
-  private double motorVal;
 
   /**
    * See JavaDoc comment in class for details
@@ -26,32 +25,30 @@ public class RunIndexWheel extends Command {
    * @param time
    *          in seconds, amount of time to run index wheel motor
    */
-  public RunIndexWheel(double motorVal, double time) {
-    requires(Robot.getShooter());
-
-    timer = new Timer();
-    this.motorVal = motorVal;
+  public RunIndexWheel(double time) {
+    requires(shooter);
     this.time = time;
   }
 
   // Called just before this Command runs the first time
   @Override
   protected void initialize() {
-    timer.start();
-    Robot.getShooter().setIndexWheelMotorVal(motorVal);
-
   }
 
   // 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() {
-    Robot.getShooter().stopIndexWheel();
-
+    shooter.stopIndexWheel();
   }
 
   // Called when another command which requires one or more of the same
@@ -63,7 +60,7 @@ public class RunIndexWheel extends Command {
 
   @Override
   protected boolean isFinished() {
-    return timer.get() >= time;
+    return timeSinceInitialized() >= time;
   }
 
 }