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 import org.usfirst.frc.team3501.robot.subsystems.Shooter;
   5 import org.usfirst.frc.team3501.robot.utils.PIDController;
   6
   7 import edu.wpi.first.wpilibj.command.Command;
   8
   9 /**
  10  * This command runs the fly wheel continuously at a set speed using a PID
  11  * Controller when OI button managing fly wheel is pressed. The command will run
  12  * the fly wheel motor until the button triggering it is released.
  13  *
  14  * Should only be run from the operator interface.
  15  *
  16  * pre-condition: This command must be run by a button in OI, with
  17  * button.whileHeld(...).
  18  *
  19  * @author Shaina & Chris
  20  */
  21 public class RunFlyWheel extends Command {
  22   private Shooter shooter = Robot.getShooter();
  23   double time;
  24
  25   private PIDController wheelController;
  26
  27   public RunFlyWheel(double time) {
  28     this.time = time;
  29   }
  30
  31   @Override
  32   protected void initialize() {
  33     shooter.initializePIDController();
  34   }
  35
  36   @Override
  37   protected void execute() {
  38     shooter.setFlyWheelMotorVal(shooter.calculateShooterSpeed());
  39   }
  40
  41   @Override
  42   protected boolean isFinished() {
  43     return timeSinceInitialized() >= time;
  44   }
  45
  46   @Override
  47   protected void end() {
  48     this.shooter.stopFlyWheel();
  49   }
  50
  51   @Override
  52   protected void interrupted() {
  53     end();
  54   }
  55 }