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 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   public RunIndexWheelContinuous() {
  29     requires(shooter);
  30   }
  31
  32   @Override
  33   protected void initialize() {
  34     t.start();
  35   }
  36
  37   @Override
  38   protected void execute() {
  39     if (t.get() > 1) {
  40       if (Shooter.getShooter().getPistonValue() == Constants.Shooter.LOW_GEAR) {
  41         Shooter.getShooter().setHighGear();
  42       } else {
  43         Shooter.getShooter().setLowGear();
  44       }
  45       t.reset();
  46     }
  47
  48     if (shooter.isShooterRPMWithinRangeOfTargetSpeed(25))
  49       shooter.runIndexWheel();
  50
  51   }
  52
  53   @Override
  54   protected void end() {
  55     shooter.stopIndexWheel();
  56   }
  57
  58   @Override
  59   protected void interrupted() {
  60     end();
  61   }
  62
  63   @Override
  64   protected boolean isFinished() {
  65     return false;
  66   }
  67
  68 }