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.Timer;
   7 import edu.wpi.first.wpilibj.command.Command;
   8
   9 /**
  10  * This command runs the fly wheel at a given speed for a given time. The fly
  11  * wheel is intended to shoot balls fed by the intake wheel.
  12  *
  13  * @author Shaina
  14  */
  15 public class RunFlyWheel extends Command {
  16   private Shooter shooter = Robot.getShooter();
  17   Timer timer;
  18   private double time;
  19
  20   /**
  21    * See JavaDoc comment in class for details
  22    *
  23    * @param motorVal
  24    *          value range from -1 to 1
  25    * @param time
  26    *          in seconds, amount of time to run fly wheel motor
  27    */
  28   public RunFlyWheel(double time) {
  29     requires(shooter);
  30
  31     timer = new Timer();
  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     shooter.setFlyWheelMotorVal(shooter.CURRENT_SHOOTING_SPEED);
  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     shooter.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 }