X-Git-Url: http://challenge-bot.com/repos/?a=blobdiff_plain;f=src%2Forg%2Fusfirst%2Ffrc%2Fteam3501%2Frobot%2Fcommands%2Fshooter%2FRunIndexWheelContinuous.java;h=1cd3e772762b5cdf6907338997a73fdc4973dde2;hb=f74d236db406193b851bff99e4daec7b7abf35e7;hp=aa2dbb26dd95c7a2717312909faeb69551ea4d64;hpb=210ebccbd7371afb041817be032f2d0be0bbc269;p=3501%2F2017steamworks

diff --git a/src/org/usfirst/frc/team3501/robot/commands/shooter/RunIndexWheelContinuous.java b/src/org/usfirst/frc/team3501/robot/commands/shooter/RunIndexWheelContinuous.java
index aa2dbb2..1cd3e77 100644
--- a/src/org/usfirst/frc/team3501/robot/commands/shooter/RunIndexWheelContinuous.java
+++ b/src/org/usfirst/frc/team3501/robot/commands/shooter/RunIndexWheelContinuous.java
@@ -1,50 +1,55 @@
 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;
 
 /**
- * This command will run the index wheel motor continuously until the button
+ * This command runs index wheel continuously when OI button managing index
+ * wheel is pressed. The command will run the index 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
  */
 public class RunIndexWheelContinuous extends Command {
-  private double motorVal;
+  private Shooter shooter = Robot.getShooter();
+
+  private double previousMotorValue = 0;
+  private double targetMotorValue = shooter.DEFAULT_INDEXING_MOTOR_VALUE;
 
   /**
    * See JavaDoc comment in class for details
-   *
-   * @param motorVal
-   *          value range from -1 to 1
    */
-  public RunIndexWheelContinuous(double motorVal) {
-    this.motorVal = motorVal;
+  public RunIndexWheelContinuous() {
   }
 
-  // Called just before this Command runs the first time
   @Override
   protected void initialize() {
-    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) {
+      double motorValue = (6 * previousMotorValue + targetMotorValue) / 7;
+      previousMotorValue = motorValue;
+      shooter.setIndexWheelMotorVal(motorValue);
+    }
   }
 
-  // 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
-  // subsystems is scheduled to run
   @Override
   protected void interrupted() {
     end();