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1 | package org.usfirst.frc.team3501.robot.commands.shooter; |
2 | ||
3 | import org.usfirst.frc.team3501.robot.Robot; | |
f625e57a | 4 | import org.usfirst.frc.team3501.robot.subsystems.Shooter; |
21477e1d | 5 | |
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6 | import edu.wpi.first.wpilibj.command.Command; |
7 | ||
8 | /** | |
9 | * This command reverses the index wheel at a given speed for given time in | |
10 | * seconds. | |
11 | * | |
12 | * @author shivanighanta | |
13 | */ | |
14 | ||
15 | public class ReverseIndexWheel extends Command { | |
f625e57a | 16 | private Shooter shooter = Robot.getShooter(); |
21477e1d | 17 | private double time; |
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18 | |
19 | /** | |
20 | * See JavaDoc comment in class for details | |
21 | * | |
22 | * @param motorVal | |
23 | * value range from -1 to 1 | |
24 | * @param time | |
25 | * in seconds, amount of time to run index wheel motor | |
26 | */ | |
27 | ||
f625e57a | 28 | public ReverseIndexWheel(double time) { |
21477e1d | 29 | requires(Robot.getDriveTrain()); |
21477e1d | 30 | this.time = time; |
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31 | } |
32 | ||
33 | @Override | |
34 | protected void initialize() { | |
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35 | } |
36 | ||
37 | @Override | |
38 | protected void execute() { | |
f625e57a | 39 | shooter.reverseIndexWheel(); |
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40 | |
41 | } | |
42 | ||
43 | @Override | |
44 | protected boolean isFinished() { | |
decaa301 | 45 | return timeSinceInitialized() >= time; |
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46 | } |
47 | ||
48 | @Override | |
49 | protected void end() { | |
f625e57a | 50 | shooter.stopIndexWheel(); |
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51 | |
52 | } | |
53 | ||
54 | @Override | |
55 | protected void interrupted() { | |
56 | end(); | |
57 | } | |
58 | } |