Commit | Line | Data |
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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(); |
49b8e933 | 22 | // private Timer t = new Timer(); |
4f2fa45c | 23 | |
b7ef589a | 24 | /** |
25 | * See JavaDoc comment in class for details | |
26 | * | |
27 | * @param motorVal | |
28 | * value range from -1 to 1 | |
29 | */ | |
ad7e6b1e | 30 | public RunIndexWheelContinuous() { |
00f515a1 | 31 | requires(shooter); |
49b8e933 | 32 | // t.start(); |
4f2fa45c | 33 | } |
34 | ||
35 | // Called just before this Command runs the first time | |
36 | @Override | |
37 | protected void initialize() { | |
49b8e933 | 38 | // t.reset(); |
4f2fa45c | 39 | } |
40 | ||
41 | // Called repeatedly when this Command is scheduled to run | |
42 | @Override | |
43 | protected void execute() { | |
49b8e933 RR |
44 | /* |
45 | * if (t.get() >= 4) { if (Shooter.getShooter().getPistonValue() == | |
46 | * Constants.Shooter.LOW_GEAR) { Shooter.getShooter().setHighGear(); } else | |
47 | * { Shooter.getShooter().setLowGear(); } } | |
48 | */ | |
02cde7ca | 49 | |
d7042bec | 50 | double shooterSpeed = shooter.getShooterRPM(); |
f625e57a CZ |
51 | if (shooterSpeed > 0) |
52 | shooter.runIndexWheel(); | |
4f2fa45c | 53 | } |
54 | ||
55 | // Called once after isFinished returns true | |
56 | @Override | |
57 | protected void end() { | |
135022bc | 58 | shooter.stopIndexWheel(); |
4f2fa45c | 59 | } |
60 | ||
61 | // Called when another command which requires one or more of the same | |
62 | // subsystems is scheduled to run | |
63 | @Override | |
64 | protected void interrupted() { | |
210ebccb | 65 | end(); |
4f2fa45c | 66 | } |
67 | ||
68 | @Override | |
69 | protected boolean isFinished() { | |
2a9dabb1 | 70 | return false; |
adfc0171 | 71 | |
4f2fa45c | 72 | } |
809609c9 | 73 | |
74 | } |