challenge-bot.com Git - 3501/2017steamworks/blob - src/org/usfirst/frc/team3501/robot/commands/shooter/RunFlyWheel.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 runs the fly wheel at a given speed for a given time. The fly
  10  * wheel is intended to shoot balls fed by the intake wheel.
  11  *
  12  * @author Shaina
  13  */
  14 public class RunFlyWheel extends Command {
  15   Timer timer;
  16   private double motorVal;
  17   private double time;
  18
  19   /**
  20    * See JavaDoc comment in class for details
  21    *
  22    * @param motorVal
  23    *          value range from -1 to 1
  24    * @param time
  25    *          in seconds, amount of time to run fly wheel motor
  26    */
  27   public RunFlyWheel(double motorVal, double time) {
  28     requires(Robot.getShooter());
  29
  30     timer = new Timer();
  31     this.motorVal = motorVal;
  32     this.time = time;
  33   }
  34
  35   // Called just before this Command runs the first time
  36   @Override
  37   protected void initialize() {
  38     timer.start();
  39     Robot.getShooter().setFlyWheelMotorVal(motorVal);
  40   }
  41
  42   // Called repeatedly when this Command is scheduled to run
  43   @Override
  44   protected void execute() {
  45   }
  46
  47   // Called once after isFinished returns true
  48   @Override
  49   protected void end() {
  50     Robot.getShooter().stopFlyWheel();
  51   }
  52
  53   // Called when another command which requires one or more of the same
  54   // subsystems is scheduled to run
  55   @Override
  56   protected void interrupted() {
  57     end();
  58   }
  59
  60   @Override
  61   protected boolean isFinished() {
  62     return timer.get() >= time;
  63   }
  64
  65 }