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.Timer;
   8 import edu.wpi.first.wpilibj.command.Command;
   9
  10 /**
  11  * This command runs index wheel continuously when OI button managing index
  12  * wheel is pressed. The command will run the index wheel motor until the button
  13  * triggering it is released.
  14  *
  15  * Should only be run from the operator interface.
  16  *
  17  * pre-condition: This command must be run by a button in OI with
  18  * button.whileHeld(...).
  19  *
  20  * @author Shaina
  21  */
  22 public class RunIndexWheelContinuous extends Command {
  23   private Shooter shooter = Robot.getShooter();
  24   private Timer t = new Timer();
  25
  26   /**
  27    * See JavaDoc comment in class for details
  28    *
  29    * @param motorVal
  30    *          value range from -1 to 1
  31    */
  32   public RunIndexWheelContinuous() {
  33     requires(shooter);
  34   }
  35
  36   // Called just before this Command runs the first time
  37   @Override
  38   protected void initialize() {
  39     t.reset();
  40   }
  41
  42   // Called repeatedly when this Command is scheduled to run
  43   @Override
  44   protected void execute() {
  45     if (t.get() % 1 == 0) {
  46       if (Shooter.getShooter().getPistonValue() == Constants.Shooter.LOW_GEAR) {
  47         Shooter.getShooter().setHighGear();
  48       } else {
  49         Shooter.getShooter().setLowGear();
  50       }
  51     }
  52
  53     double shooterSpeed = shooter.getShooterRPM();
  54     if (shooterSpeed > 0) {
  55       shooter.setIndexWheelMotorVal(shooter.DEFAULT_INDEXING_SPEED);
  56     }
  57   }
  58
  59   // Called once after isFinished returns true
  60   @Override
  61   protected void end() {
  62     shooter.stopIndexWheel();
  63   }
  64
  65   // Called when another command which requires one or more of the same
  66   // subsystems is scheduled to run
  67   @Override
  68   protected void interrupted() {
  69     end();
  70   }
  71
  72   @Override
  73   protected boolean isFinished() {
  74     return false;
  75
  76   }
  77
  78 }