Commit | Line | Data |
---|---|---|
809609c9 | 1 | package org.usfirst.frc.team3501.robot.commands.shooter; |
2 | ||
dbec800d | 3 | import org.usfirst.frc.team3501.robot.Robot; |
00f515a1 | 4 | import org.usfirst.frc.team3501.robot.subsystems.Shooter; |
dbec800d | 5 | |
809609c9 | 6 | import edu.wpi.first.wpilibj.command.Command; |
7 | ||
8 | /** | |
d4507ede | 9 | * This command runs the fly wheel continuously when OI button managing fly |
10 | * wheel is pressed. The command will run the fly wheel motor until the button | |
89a76b33 | 11 | * triggering it is released. |
b6e97560 | 12 | * |
d4507ede | 13 | * Should only be run from the operator interface. |
14 | * | |
973f0ac4 | 15 | * pre-condition: This command must be run by a button in OI, with |
16 | * button.whileHeld(...). | |
357feb5c | 17 | * |
973f0ac4 | 18 | * @author Shaina |
809609c9 | 19 | */ |
20 | public class RunFlyWheelContinuous extends Command { | |
00f515a1 | 21 | private Shooter shooter = Robot.getShooter(); |
55cbd9ba | 22 | |
b7ef589a | 23 | /** |
24 | * See JavaDoc comment in class for details | |
25 | * | |
26 | * @param motorVal | |
27 | * value range from -1 to 1 | |
28 | */ | |
00f515a1 CZ |
29 | public RunFlyWheelContinuous() { |
30 | requires(shooter); | |
55cbd9ba | 31 | } |
32 | ||
33 | // Called just before this Command runs the first time | |
34 | @Override | |
35 | protected void initialize() { | |
36 | } | |
37 | ||
38 | // Called repeatedly when this Command is scheduled to run | |
39 | @Override | |
40 | protected void execute() { | |
00f515a1 | 41 | shooter.setFlyWheelMotorVal(shooter.CURRENT_SHOOTING_SPEED); |
55cbd9ba | 42 | } |
43 | ||
44 | // Called once after isFinished returns true | |
45 | @Override | |
46 | protected void end() { | |
47 | } | |
48 | ||
49 | // Called when another command which requires one or more of the same | |
50 | // subsystems is scheduled to run | |
51 | @Override | |
52 | protected void interrupted() { | |
89a76b33 | 53 | end(); |
55cbd9ba | 54 | } |
55 | ||
56 | @Override | |
57 | protected boolean isFinished() { | |
2a9dabb1 | 58 | return false; |
55cbd9ba | 59 | } |
809609c9 | 60 | |
61 | } |