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   private double previousMotorValue = 0;
  24   private double targetMotorValue = -shooter.DEFAULT_INDEXING_MOTOR_VALUE;
  25
  26   /**
  27    * See JavaDoc comment in class for details
  28    *
  29    * @param motorVal
  30    *          value range from -1 to 1
  31    */
  32   public ReverseIndexWheelContinuous() {
  33   }
  34
  35   // Called just before this Command runs the first time
  36   @Override
  37   protected void initialize() {
  38   }
  39
  40   // Called repeatedly when this Command is scheduled to run
  41   @Override
  42   protected void execute() {
  43     double motorValue = (6 * previousMotorValue + targetMotorValue) / 7;
  44     previousMotorValue = motorValue;
  45     shooter.setIndexWheelMotorVal(motorValue);
  46   }
  47
  48   // Called once after isFinished returns true
  49   @Override
  50   protected void end() {
  51     shooter.stopIndexWheel();
  52   }
  53
  54   // Called when another command which requires one or more of the same
  55   // subsystems is scheduled to run
  56   @Override
  57   protected void interrupted() {
  58     end();
  59   }
  60
  61   @Override
  62   protected boolean isFinished() {
  63     return false;
  64
  65   }
  66
  67 }