challenge-bot.com Git - 3501/2017steamworks/blob - src/org/usfirst/frc/team3501/robot/commands/shooter/RunIndexWheel.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 index wheel at a given speed for given time in seconds.
  10  *
  11  * pre-condition: fly wheel is running at full speed to prepare for shooting
  12  * fuel
  13  *
  14  * @author Shaina
  15  */
  16 public class RunIndexWheel extends Command {
  17   private Shooter shooter = Robot.getShooter();
  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 index wheel motor
  27    */
  28   public RunIndexWheel(double time) {
  29     requires(shooter);
  30     this.time = time;
  31   }
  32
  33   // Called just before this Command runs the first time
  34   @Override
  35   protected void initialize() {
  36   }
  37
  38   // Called repeatedly when this Command is scheduled to run
  39   @Override
  40   protected void execute() {
  41     double shooterSpeed = shooter.getShooterRPM();
  42     double targetShooterSpeed = shooter.getTargetShootingSpeed();
  43     double threshold = shooter.getRPMThreshold();
  44     if (Math.abs(shooterSpeed - targetShooterSpeed) <= threshold)
  45       shooter.runIndexWheel();
  46   }
  47
  48   // Called once after isFinished returns true
  49   @Override
  50   protected void end() {
  51     shooter.stopIndexWheel();
  52   }
  53
  54   // Called when another command which requires one or more of the same
  55   // subsystems is scheduled to run
  56   @Override
  57   protected void interrupted() {
  58     end();
  59   }
  60
  61   @Override
  62   protected boolean isFinished() {
  63     return timeSinceInitialized() >= time;
  64   }
  65
  66 }