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
   5 import edu.wpi.first.wpilibj.Timer;
   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   Timer timer;
  17   private double time;
  18   private double motorVal;
  19
  20   /**
  21    * See JavaDoc comment in class for details
  22    *
  23    * @param motorVal
  24    *          value range from -1 to 1
  25    * @param time
  26    *          in seconds, amount of time to run index wheel motor
  27    */
  28
  29   public ReverseIndexWheel(double time, double motorVal) {
  30     requires(Robot.getDriveTrain());
  31     timer = new Timer();
  32     this.time = time;
  33     this.motorVal = motorVal;
  34   }
  35
  36   @Override
  37   protected void initialize() {
  38     timer.start();
  39
  40   }
  41
  42   @Override
  43   protected void execute() {
  44     Robot.getShooter().setIndexWheelMotorVal(-motorVal);
  45
  46   }
  47
  48   @Override
  49   protected boolean isFinished() {
  50     return timer.get() >= time;
  51   }
  52
  53   @Override
  54   protected void end() {
  55     Robot.getShooter().stopIndexWheel();
  56
  57   }
  58
  59   @Override
  60   protected void interrupted() {
  61     end();
  62   }
  63 }