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.command.Command;
   6
   7 /**
   8  * This command reverses the index wheel at a given speed for given time in
   9  * seconds.
  10  *
  11  * @author shivanighanta
  12  */
  13
  14 public class ReverseIndexWheel extends Command {
  15   private double time;
  16   private double motorVal;
  17
  18   /**
  19    * See JavaDoc comment in class for details
  20    *
  21    * @param motorVal
  22    *          value range from -1 to 1
  23    * @param time
  24    *          in seconds, amount of time to run index wheel motor
  25    */
  26
  27   public ReverseIndexWheel(double time, double motorVal) {
  28     requires(Robot.getDriveTrain());
  29     this.time = time;
  30     this.motorVal = motorVal;
  31   }
  32
  33   @Override
  34   protected void initialize() {
  35
  36   }
  37
  38   @Override
  39   protected void execute() {
  40     Robot.getShooter().setIndexWheelMotorVal(-motorVal);
  41
  42   }
  43
  44   @Override
  45   protected boolean isFinished() {
  46     return timeSinceInitialized() >= time;
  47   }
  48
  49   @Override
  50   protected void end() {
  51     Robot.getShooter().stopIndexWheel();
  52
  53   }
  54
  55   @Override
  56   protected void interrupted() {
  57     end();
  58   }
  59 }