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.Constants;
   4 import org.usfirst.frc.team3501.robot.Robot;
   5 import org.usfirst.frc.team3501.robot.subsystems.Shooter;
   6
   7 import edu.wpi.first.wpilibj.command.Command;
   8
   9 /**
  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.
  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
  20  */
  21 public class RunIndexWheelContinuous extends Command {
  22   private Shooter shooter = Robot.getShooter();
  23
  24   /**
  25    * See JavaDoc comment in class for details
  26    *
  27    * @param motorVal
  28    *          value range from -1 to 1
  29    */
  30   public RunIndexWheelContinuous() {
  31     requires(shooter);
  32   }
  33
  34   // Called just before this Command runs the first time
  35   @Override
  36   protected void initialize() {
  37   }
  38
  39   // Called repeatedly when this Command is scheduled to run
  40   @Override
  41   protected void execute() {
  42     if (timeSinceInitialized() % 1 == 0) {
  43       if (Shooter.getShooter().getPistonValue() == Constants.Shooter.LOW_GEAR) {
  44         Shooter.getShooter().setHighGear();
  45       } else {
  46         Shooter.getShooter().setLowGear();
  47       }
  48     }
  49
  50     double shooterSpeed = shooter.getShooterRPM();
  51     if (shooterSpeed > 0) {
  52       shooter.setIndexWheelMotorVal(shooter.DEFAULT_INDEXING_SPEED);
  53     }
  54   }
  55
  56   // Called once after isFinished returns true
  57   @Override
  58   protected void end() {
  59     shooter.stopIndexWheel();
  60   }
  61
  62   // Called when another command which requires one or more of the same
  63   // subsystems is scheduled to run
  64   @Override
  65   protected void interrupted() {
  66     end();
  67   }
  68
  69   @Override
  70   protected boolean isFinished() {
  71     return false;
  72
  73   }
  74
  75 }