Commit | Line | Data |
---|---|---|
809609c9 | 1 | package org.usfirst.frc.team3501.robot.commands.shooter; |
2 | ||
1fe2a13c | 3 | import org.usfirst.frc.team3501.robot.Constants; |
210ebccb | 4 | import org.usfirst.frc.team3501.robot.Robot; |
ad7e6b1e | 5 | import org.usfirst.frc.team3501.robot.subsystems.Shooter; |
210ebccb | 6 | |
809609c9 | 7 | import edu.wpi.first.wpilibj.command.Command; |
8 | ||
9 | /** | |
d4507ede | 10 | * This command runs index wheel continuously when OI button managing index |
11 | * wheel is pressed. The command will run the index wheel motor until the button | |
89a76b33 | 12 | * triggering it is released. |
357feb5c | 13 | * |
d4507ede | 14 | * Should only be run from the operator interface. |
15 | * | |
973f0ac4 | 16 | * pre-condition: This command must be run by a button in OI with |
17 | * button.whileHeld(...). | |
18 | * | |
27d2386f | 19 | * @author Shaina |
809609c9 | 20 | */ |
21 | public class RunIndexWheelContinuous extends Command { | |
ad7e6b1e | 22 | private Shooter shooter = Robot.getShooter(); |
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); |
4f2fa45c | 32 | } |
33 | ||
34 | // Called just before this Command runs the first time | |
35 | @Override | |
36 | protected void initialize() { | |
37 | } | |
38 | ||
39 | // Called repeatedly when this Command is scheduled to run | |
40 | @Override | |
41 | protected void execute() { | |
8e45a057 | 42 | if (timeSinceInitialized() % 1 == 0) { |
1fe2a13c RR |
43 | if (Shooter.getShooter().getPistonValue() == Constants.Shooter.LOW_GEAR) { |
44 | Shooter.getShooter().setHighGear(); | |
45 | } else { | |
46 | Shooter.getShooter().setLowGear(); | |
47 | } | |
48 | } | |
49 | ||
d7042bec NA |
50 | double shooterSpeed = shooter.getShooterRPM(); |
51 | if (shooterSpeed > 0) { | |
52 | shooter.setIndexWheelMotorVal(shooter.DEFAULT_INDEXING_SPEED); | |
53 | } | |
4f2fa45c | 54 | } |
55 | ||
56 | // Called once after isFinished returns true | |
57 | @Override | |
58 | protected void end() { | |
135022bc | 59 | shooter.stopIndexWheel(); |
4f2fa45c | 60 | } |
61 | ||
62 | // Called when another command which requires one or more of the same | |
63 | // subsystems is scheduled to run | |
64 | @Override | |
65 | protected void interrupted() { | |
210ebccb | 66 | end(); |
4f2fa45c | 67 | } |
68 | ||
69 | @Override | |
70 | protected boolean isFinished() { | |
2a9dabb1 | 71 | return false; |
adfc0171 | 72 | |
4f2fa45c | 73 | } |
809609c9 | 74 | |
75 | } |