challenge-bot.com Git - 3501/2017steamworks/blob - src/org/usfirst/frc/team3501/robot/commands/shooter/ReverseIndexWheel.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 reverses the index wheel at a given speed for given time in
  10  * seconds.
  11  *
  12  * @author shivanighanta
  13  */
  14
  15 public class ReverseIndexWheel extends Command {
  16   private Shooter shooter = Robot.getShooter();
  17   private double time;
  18
  19   /**
  20    * See JavaDoc comment in class for details
  21    *
  22    * @param motorVal
  23    *          value range from -1 to 1
  24    * @param time
  25    *          in seconds, amount of time to run index wheel motor
  26    */
  27
  28   public ReverseIndexWheel(double time) {
  29     requires(Robot.getDriveTrain());
  30     this.time = time;
  31   }
  32
  33   @Override
  34   protected void initialize() {
  35   }
  36
  37   @Override
  38   protected void execute() {
  39     shooter.reverseIndexWheel();
  40
  41   }
  42
  43   @Override
  44   protected boolean isFinished() {
  45     return timeSinceInitialized() >= time;
  46   }
  47
  48   @Override
  49   protected void end() {
  50     shooter.stopIndexWheel();
  51
  52   }
  53
  54   @Override
  55   protected void interrupted() {
  56     end();
  57   }
  58 }