code review changes

[3501/2017steamworks] / src / org / usfirst / frc / team3501 / robot / commands / shooter / RunIndexWheel.java

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 runs index wheel at a given speed for given time in seconds.
 *
 * pre-condition: fly wheel is running at full speed to prepare for shooting
 * fuel
 *
 * @author Shaina
 */
public class RunIndexWheel extends Command {
  private Shooter shooter = Robot.getShooter();
  private double time;

  /**
   * See JavaDoc comment in class for details
   *
   * @param motorVal
   *          value range from -1 to 1
   * @param time
   *          in seconds, amount of time to run index wheel motor
   */
  public RunIndexWheel(double time) {
    requires(shooter);
    this.time = time;
  }

  // Called just before this Command runs the first time
  @Override
  protected void initialize() {
  }

  // 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)
      shooter.runIndexWheel();
  }

  // Called once after isFinished returns true
  @Override
  protected void end() {
    shooter.stopIndexWheel();
  }

  // Called when another command which requires one or more of the same
  // subsystems is scheduled to run
  @Override
  protected void interrupted() {
    end();
  }

  @Override
  protected boolean isFinished() {
    return timeSinceInitialized() >= time;
  }

}