1 package org
.usfirst
.frc
.team3501
.robot
.commands
.shooter
;
3 import org
.usfirst
.frc
.team3501
.robot
.Robot
;
4 import org
.usfirst
.frc
.team3501
.robot
.subsystems
.Shooter
;
6 import edu
.wpi
.first
.wpilibj
.command
.Command
;
9 * This command runs index wheel continuously when OI button managing index
10 * wheel is pressed. The command will run the index wheel motor until the button
11 * triggering it is released.
13 * Should only be run from the operator interface.
15 * pre-condition: This command must be run by a button in OI with
16 * button.whileHeld(...).
20 public class RunIndexWheelContinuous
extends Command
{
21 private Shooter shooter
= Robot
.getShooter();
24 * See JavaDoc comment in class for details
26 public RunIndexWheelContinuous() {
31 protected void initialize() {
35 protected void execute() {
36 double shooterSpeed
= shooter
.getShooterRPM();
37 double targetShooterSpeed
= shooter
.getTargetShootingSpeed();
38 double threshold
= shooter
.getRPMThreshold();
39 if (Math
.abs(shooterSpeed
- targetShooterSpeed
) <= threshold
)
40 shooter
.runIndexWheel();
44 protected void end() {
45 shooter
.stopIndexWheel();
49 protected void interrupted() {
54 protected boolean isFinished() {