competition fixes

[3501/2017steamworks] / src / org / usfirst / frc / team3501 / robot / commands / shooter / RunIndexWheelContinuous.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 continuously when OI button managing index
 * wheel is pressed. The command will run the index wheel motor until the button
 * triggering it is released.
 *
 * Should only be run from the operator interface.
 *
 * pre-condition: This command must be run by a button in OI with
 * button.whileHeld(...).
 *
 * @author Shaina
 */
public class RunIndexWheelContinuous extends Command {
  private Shooter shooter = Robot.getShooter();

  private double previousMotorValue = 0;
  private double targetMotorValue = shooter.DEFAULT_INDEXING_MOTOR_VALUE;

  /**
   * See JavaDoc comment in class for details
   */
  public RunIndexWheelContinuous() {
  }

  @Override
  protected void initialize() {
  }

  @Override
  protected void execute() {
    double shooterSpeed = shooter.getShooterRPM();
    double targetShooterSpeed = shooter.getTargetShootingSpeed();
    double threshold = shooter.getRPMThreshold();
    if (Math.abs(shooterSpeed - targetShooterSpeed) <= threshold) {
      double motorValue = (6 * previousMotorValue + targetMotorValue) / 7;
      previousMotorValue = motorValue;
      shooter.setIndexWheelMotorVal(motorValue);
    }
  }

  @Override
  protected void end() {
    shooter.stopIndexWheel();
  }

  @Override
  protected void interrupted() {
    end();
  }

  @Override
  protected boolean isFinished() {
    return false;
  }

}