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
   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   private Shooter shooter = Robot.getShooter();
  16   private double time;
  17
  18   /**
  19    * See JavaDoc comment in class for details
  20    *
  21    * @param motorVal
  22    *          value range from -1 to 1
  23    * @param time
  24    *          in seconds, amount of time to run fly wheel motor
  25    */
  26   public RunFlyWheel(double time) {
  27     requires(shooter);
  28     this.time = time;
  29   }
  30
  31   // Called just before this Command runs the first time
  32   @Override
  33   protected void initialize() {
  34   }
  35
  36   // Called repeatedly when this Command is scheduled to run
  37   @Override
  38   protected void execute() {
  39     shooter.setFlyWheelMotorVal(shooter.CURRENT_SHOOTING_SPEED);
  40   }
  41
  42   // Called once after isFinished returns true
  43   @Override
  44   protected void end() {
  45     shooter.stopFlyWheel();
  46   }
  47
  48   // Called when another command which requires one or more of the same
  49   // subsystems is scheduled to run
  50   @Override
  51   protected void interrupted() {
  52     end();
  53   }
  54
  55   @Override
  56   protected boolean isFinished() {
  57     return timeSinceInitialized() >= time;
  58   }
  59
  60 }