-package org.usfirst.frc.team3501.robot.commands;
-
-import org.usfirst.frc.team3501.robot.Robot;
-
-import edu.wpi.first.wpilibj.command.Command;
-
-/**
- *
- */
-public class ShooterTest extends Command {
-
- public ShooterTest() {
-
- requires(Robot.shooter);
- }
-
- @Override
- protected void initialize() {
- Robot.shooter.setSpeed(0.5);
-
- }
-
- @Override
- protected void execute() {
- boolean triggerPressed = Robot.oi.rightJoystick.getTrigger();
- boolean leftSidePressed = Robot.oi.leftSilverButton.get();
- boolean rightSidePressed = Robot.oi.rightSilverButton.get();
- boolean thumbPressed = Robot.oi.thumbButton.get();
-
- double currentWheelSpeed = Robot.shooter.getCurrentSpeed();
-
- if (triggerPressed == true) {
- Robot.shooter.setSpeed(currentWheelSpeed);
- } else {
- Robot.shooter.setSpeed(0.0);
- }
-
- if (leftSidePressed == true) {
- Robot.shooter.decrementSpeed(0.1);
- }
-
- if (rightSidePressed == true) {
- Robot.shooter.incrementSpeed(0.1);
- }
-
- if (thumbPressed == true) {
- System.out.println(Robot.shooter.getCurrentSpeed());
- }
-
- }
-
- // Make this return true when this Command no longer needs to run execute()
- @Override
- protected boolean isFinished() {
- return false;
- }
-
- // 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() {
- }
-}