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.subsystems.Shooter;
   5
   6 import edu.wpi.first.wpilibj.Timer;
   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   private Timer t = new Timer();
  24
  25   /**
  26    * See JavaDoc comment in class for details
  27    *
  28    * @param motorVal
  29    *          value range from -1 to 1
  30    */
  31   public RunIndexWheelContinuous() {
  32     requires(shooter);
  33   }
  34
  35   // Called just before this Command runs the first time
  36   @Override
  37   protected void initialize() {
  38     t.reset();
  39   }
  40
  41   // Called repeatedly when this Command is scheduled to run
  42   @Override
  43   protected void execute() {
  44     double shooterSpeed = shooter.getShooterRPM();
  45     if (shooterSpeed > 0)
  46       shooter.runIndexWheel();
  47   }
  48
  49   // Called once after isFinished returns true
  50   @Override
  51   protected void end() {
  52     shooter.stopIndexWheel();
  53   }
  54
  55   // Called when another command which requires one or more of the same
  56   // subsystems is scheduled to run
  57   @Override
  58   protected void interrupted() {
  59     end();
  60   }
  61
  62   @Override
  63   protected boolean isFinished() {
  64     return false;
  65
  66   }
  67
  68 }