challenge-bot.com Git - 3501/2017steamworks/blob - src/org/usfirst/frc/team3501/robot/commands/shooter/ReverseIndexWheelContinuous.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 continuously when OI button managing
  10  * index wheel is pressed. The command will run the index wheel motor until the
  11  * button triggering it is released.
  12  *
  13  * Should only be run from the operator interface.
  14  *
  15  * pre-condition: This command must be run by a button in OI with
  16  * button.whileHeld(...).
  17  *
  18  * @author Rohan
  19  */
  20 public class ReverseIndexWheelContinuous extends Command {
  21   private Shooter shooter = Robot.getShooter();
  22
  23   /**
  24    * See JavaDoc comment in class for details
  25    *
  26    * @param motorVal
  27    *          value range from -1 to 1
  28    */
  29   public ReverseIndexWheelContinuous() {
  30     requires(shooter);
  31   }
  32
  33   // Called just before this Command runs the first time
  34   @Override
  35   protected void initialize() {
  36   }
  37
  38   // Called repeatedly when this Command is scheduled to run
  39   @Override
  40   protected void execute() {
  41     shooter.reverseIndexWheel();
  42   }
  43
  44   // Called once after isFinished returns true
  45   @Override
  46   protected void end() {
  47     shooter.stopIndexWheel();
  48   }
  49
  50   // Called when another command which requires one or more of the same
  51   // subsystems is scheduled to run
  52   @Override
  53   protected void interrupted() {
  54     end();
  55   }
  56
  57   @Override
  58   protected boolean isFinished() {
  59     return false;
  60
  61   }
  62
  63 }