package org.usfirst.frc.team3501.robot;
-import org.usfirst.frc.team3501.robot.commands.changeSpeed;
+import org.usfirst.frc.team3501.robot.commands.runShooter;
+import org.usfirst.frc.team3501.robot.commands.setShooterSpeed;
import edu.wpi.first.wpilibj.Joystick;
import edu.wpi.first.wpilibj.buttons.Button;
decrementSpeed = new JoystickButton(rightJoystick,
Constants.OI.DECREMENT_SHOOTER_PORT);
+ decrementSpeed.whenPressed(new setShooterSpeed(-0.1));
incrementSpeed = new JoystickButton(rightJoystick,
Constants.OI.INCREMENT_SHOOTER_PORT);
+ incrementSpeed.whenPressed(new setShooterSpeed(0.1));
outputCurrentShooterSpeed = new JoystickButton(rightJoystick,
Constants.OI.SHOOTER_PORT);
runWheel = new JoystickButton(rightJoystick, Constants.OI.TRIGGER_PORT);
-
- incrementSpeed.whenPressed(new changeSpeed(0.1));
-
- decrementSpeed.whenPressed(new changeSpeed(-0.1));
-
+ runWheel.whenPressed(new runShooter());
}
}
+++ /dev/null
-package org.usfirst.frc.team3501.robot.commands;
-
-import org.usfirst.frc.team3501.robot.Robot;
-
-import edu.wpi.first.wpilibj.command.Command;
-
-public class changeSpeed extends Command {
- double change = 0.0;
-
- public changeSpeed(double change) {
- this.change = change;
- }
-
- @Override
- protected void initialize() {
- }
-
- @Override
- protected void execute() {
- Robot.shooter.changeSpeed(change);
- }
-
- @Override
- protected boolean isFinished() {
- return true;
- }
-
- @Override
- protected void end() {
- }
-
- @Override
- protected void interrupted() {
- }
-}
--- /dev/null
+package org.usfirst.frc.team3501.robot.commands;
+
+import org.usfirst.frc.team3501.robot.Robot;
+
+import edu.wpi.first.wpilibj.command.Command;
+
+/**
+ *
+ */
+public class runShooter extends Command {
+
+ public runShooter() {
+
+ }
+
+ @Override
+ protected void initialize() {
+ Robot.shooter.setSpeed(0.5);
+ }
+
+ @Override
+ protected void execute() {
+ }
+
+ @Override
+ protected boolean isFinished() {
+ return true;
+ }
+
+ @Override
+ protected void end() {
+ }
+
+ @Override
+ protected void interrupted() {
+ }
+}
--- /dev/null
+package org.usfirst.frc.team3501.robot.commands;
+
+import org.usfirst.frc.team3501.robot.Robot;
+
+import edu.wpi.first.wpilibj.command.Command;
+
+public class setShooterSpeed extends Command {
+ double change = 0.0;
+ double speed = Robot.shooter.getCurrentSpeed();
+
+ public setShooterSpeed(double speed) {
+ this.speed = speed;
+ }
+
+ public setShooterSpeed(double speed, double change) {
+ this.speed = speed;
+ this.change = change;
+ }
+
+ @Override
+ protected void initialize() {
+ }
+
+ @Override
+ protected void execute() {
+ Robot.shooter.setSpeed(change);
+ }
+
+ @Override
+ protected boolean isFinished() {
+ return true;
+ }
+
+ @Override
+ protected void end() {
+ }
+
+ @Override
+ protected void interrupted() {
+ }
+}
\r
// Use negative # for decrement. Positive for increment.\r
public void changeSpeed(double change) {\r
- if (getCurrentSpeed() >= 1.0)\r
+ if (getCurrentSpeed() + change >= 1.0)\r
shooter.set(1.0);\r
- else if (getCurrentSpeed() <= -1.0)\r
+ else if (getCurrentSpeed() + change <= -1.0)\r
shooter.set(-1.0);\r
else {\r
double newSpeed = getCurrentSpeed() + change;\r