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 double time;
  17   private double motorVal;
  18   private Shooter shooter = Robot.getShooter();
  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     this.time = time;
  32     this.motorVal = motorVal;
  33   }
  34
  35   @Override
  36   protected void initialize() {
  37
  38   }
  39
  40   @Override
  41   protected void execute() {
  42     shooter.runIndexWheelReverse();
  43
  44   }
  45
  46   @Override
  47   protected boolean isFinished() {
  48     return timeSinceInitialized() >= time;
  49   }
  50
  51   @Override
  52   protected void end() {
  53     Robot.getShooter().stopIndexWheel();
  54
  55   }
  56
  57   @Override
  58   protected void interrupted() {
  59     end();
  60   }
  61 }