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
   5 import edu.wpi.first.wpilibj.Timer;
   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   Timer timer;
  18   private double time;
  19   private double motorVal;
  20
  21   /**
  22    * See JavaDoc comment in class for details
  23    *
  24    * @param motorVal
  25    *          value range from -1 to 1
  26    * @param time
  27    *          in seconds, amount of time to run index wheel motor
  28    */
  29   public RunIndexWheel(double motorVal, double time) {
  30     requires(Robot.getShooter());
  31
  32     timer = new Timer();
  33     this.motorVal = motorVal;
  34     this.time = time;
  35   }
  36
  37   // Called just before this Command runs the first time
  38   @Override
  39   protected void initialize() {
  40     timer.start();
  41     Robot.getShooter().setIndexWheelMotorVal(motorVal);
  42
  43   }
  44
  45   // Called repeatedly when this Command is scheduled to run
  46   @Override
  47   protected void execute() {
  48   }
  49
  50   // Called once after isFinished returns true
  51   @Override
  52   protected void end() {
  53     Robot.getShooter().stopIndexWheel();
  54
  55   }
  56
  57   // Called when another command which requires one or more of the same
  58   // subsystems is scheduled to run
  59   @Override
  60   protected void interrupted() {
  61     end();
  62   }
  63
  64   @Override
  65   protected boolean isFinished() {
  66     return timer.get() >= time;
  67   }
  68
  69 }