809609c9 |
1 | package org.usfirst.frc.team3501.robot.commands.shooter; |
2 | |
210ebccb |
3 | import org.usfirst.frc.team3501.robot.Robot; |
ad7e6b1e |
4 | import org.usfirst.frc.team3501.robot.subsystems.Shooter; |
210ebccb |
5 | |
809609c9 |
6 | import edu.wpi.first.wpilibj.command.Command; |
7 | |
8 | /** |
d4507ede |
9 | * This command runs index wheel continuously when OI button managing index |
10 | * wheel is pressed. The command will run the index wheel motor until the button |
89a76b33 |
11 | * triggering it is released. |
357feb5c |
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(...). |
17 | * |
27d2386f |
18 | * @author Shaina |
809609c9 |
19 | */ |
20 | public class RunIndexWheelContinuous extends Command { |
ad7e6b1e |
21 | private Shooter shooter = Robot.getShooter(); |
4f2fa45c |
22 | |
b7ef589a |
23 | /** |
24 | * See JavaDoc comment in class for details |
25 | * |
26 | * @param motorVal |
27 | * value range from -1 to 1 |
28 | */ |
ad7e6b1e |
29 | public RunIndexWheelContinuous() { |
00f515a1 |
30 | requires(shooter); |
4f2fa45c |
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.setIndexWheelMotorVal(shooter.DEFAULT_INDEXING_SPEED); |
4f2fa45c |
42 | } |
43 | |
44 | // Called once after isFinished returns true |
45 | @Override |
46 | protected void end() { |
135022bc |
47 | shooter.stopIndexWheel(); |
4f2fa45c |
48 | } |
49 | |
50 | // Called when another command which requires one or more of the same |
51 | // subsystems is scheduled to run |
52 | @Override |
53 | protected void interrupted() { |
210ebccb |
54 | end(); |
4f2fa45c |
55 | } |
56 | |
57 | @Override |
58 | protected boolean isFinished() { |
2a9dabb1 |
59 | return false; |
adfc0171 |
60 | |
4f2fa45c |
61 | } |
809609c9 |
62 | |
63 | } |