challenge-bot.com Git - 3501/2017steamworks/blob - src/org/usfirst/frc/team3501/robot/commands/shooter/DecreaseShootingSpeed.java

   1 package org.usfirst.frc.team3501.robot.commands.shooter;
   2
   3 import org.usfirst.frc.team3501.robot.Robot;
   4 import org.usfirst.frc.team3501.robot.subsystems.Shooter;
   5
   6 import edu.wpi.first.wpilibj.command.Command;
   7
   8 /**
   9  * This command decreases the speed at which the flywheel runs at by a fixed
  10  * constant
  11  *
  12  * post-condition: the shooting speed is decremented, such that whenever the
  13  * flywheel is run, it will run at the decreased shooting speed
  14  */
  15 public class DecreaseShootingSpeed extends Command {
  16   private Shooter shooter = Robot.getShooter();
  17
  18   public DecreaseShootingSpeed() {
  19
  20   }
  21
  22   @Override
  23   protected void initialize() {
  24     shooter.setCurrentShootingSpeed(
  25         shooter.getCurrentShootingSpeed() - shooter.SHOOTING_SPEED_INCREMENT);
  26   }
  27
  28   @Override
  29   protected void execute() {
  30   }
  31
  32   @Override
  33   protected void end() {
  34   }
  35
  36   @Override
  37   protected void interrupted() {
  38     end();
  39   }
  40
  41   @Override
  42   protected boolean isFinished() {
  43     return true;
  44
  45   }
  46
  47 }