challenge-bot.com Git - 3501/2017steamworks/blob - src/org/usfirst/frc/team3501/robot/commands/shooter/RunIndexWheelContinuous.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.Constants;
   5 import org.usfirst.frc.team3501.robot.subsystems.Shooter;
   6 <<<<<<< HEAD
   7 =======
   8
   9 >>>>>>> Remove getters for shift pistons
  10 import edu.wpi.first.wpilibj.Timer;
  11 import edu.wpi.first.wpilibj.command.Command;
  12
  13 /**
  14  * This command runs index wheel continuously when OI button managing index
  15  * wheel is pressed. The command will run the index wheel motor until the button
  16  * triggering it is released.
  17  *
  18  * Should only be run from the operator interface.
  19  *
  20  * pre-condition: This command must be run by a button in OI with
  21  * button.whileHeld(...).
  22  *
  23  * @author Shaina
  24  */
  25 public class RunIndexWheelContinuous extends Command {
  26   private Shooter shooter = Robot.getShooter();
  27   private Timer t = new Timer();
  28
  29   /**
  30    * See JavaDoc comment in class for details
  31    */
  32   public RunIndexWheelContinuous() {
  33     requires(shooter);
  34   }
  35
  36   @Override
  37   protected void initialize() {
  38 <<<<<<< HEAD
  39     t.start();
  40 =======
  41     t.reset();
  42 >>>>>>> Remove getters for shift pistons
  43   }
  44
  45   @Override
  46   protected void execute() {
  47     if (t.get() > 1) {
  48       if (Shooter.getShooter().getPistonValue() == Constants.Shooter.LOW_GEAR) {
  49         Shooter.getShooter().setHighGear();
  50       } else {
  51         Shooter.getShooter().setLowGear();
  52       }
  53       t.reset();
  54     }
  55
  56     if (shooter.isShooterRPMWithinRangeOfTargetSpeed(25))
  57       shooter.runIndexWheel();
  58
  59   }
  60
  61   @Override
  62   protected void end() {
  63     shooter.stopIndexWheel();
  64   }
  65
  66   @Override
  67   protected void interrupted() {
  68     end();
  69   }
  70
  71   @Override
  72   protected boolean isFinished() {
  73     return false;
  74   }
  75
  76 }