challenge-bot.com Git - 3501/2017steamworks/blob - src/org/usfirst/frc/team3501/robot/commands/shooter/RunFlyWheelContinuous.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 RunFlyWheelContinuous extends Command {
  22   private Shooter shooter = Robot.getShooter();
  23
  24   private PIDController wheelController;
  25
  26   public RunFlyWheelContinuous() {
  27     requires(shooter);
  28   }
  29
  30   @Override
  31   protected void initialize() {
  32     shooter.initializePIDController();
  33   }
  34
  35   @Override
  36   protected void execute() {
  37     shooter.setFlyWheelMotorVal(shooter.calculateShooterSpeed());
  38   }
  39
  40   @Override
  41   protected boolean isFinished() {
  42     return false;
  43   }
  44
  45   @Override
  46   protected void end() {
  47     this.shooter.stopFlyWheel();
  48   }
  49
  50   @Override
  51   protected void interrupted() {
  52     end();
  53   }
  54 }