1 package org
.usfirst
.frc
.team3501
.robot
.commands
.shooter
;
3 import org
.usfirst
.frc
.team3501
.robot
.Constants
;
4 import org
.usfirst
.frc
.team3501
.robot
.Robot
;
5 import org
.usfirst
.frc
.team3501
.robot
.subsystems
.Shooter
;
7 import edu
.wpi
.first
.wpilibj
.command
.Command
;
10 * This command runs index wheel continuously when OI button managing index
11 * wheel is pressed. The command will run the index wheel motor until the button
12 * triggering it is released.
14 * Should only be run from the operator interface.
16 * pre-condition: This command must be run by a button in OI with
17 * button.whileHeld(...).
21 public class RunIndexWheelContinuous
extends Command
{
22 private Shooter shooter
= Robot
.getShooter();
25 * See JavaDoc comment in class for details
28 * value range from -1 to 1
30 public RunIndexWheelContinuous() {
34 // Called just before this Command runs the first time
36 protected void initialize() {
39 // Called repeatedly when this Command is scheduled to run
41 protected void execute() {
42 if (timeSinceInitialized() % 1 == 0) {
43 if (Shooter
.getShooter().getPistonValue() == Constants
.Shooter
.LOW_GEAR
) {
44 Shooter
.getShooter().setHighGear();
46 Shooter
.getShooter().setLowGear();
50 double shooterSpeed
= shooter
.getShooterRPM();
51 if (shooterSpeed
> 0) {
52 shooter
.setIndexWheelMotorVal(shooter
.DEFAULT_INDEXING_SPEED
);
56 // Called once after isFinished returns true
58 protected void end() {
59 shooter
.stopIndexWheel();
62 // Called when another command which requires one or more of the same
63 // subsystems is scheduled to run
65 protected void interrupted() {
70 protected boolean isFinished() {