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   public RunIndexWheelContinuous() {
  30     requires(shooter);
  31   }
  32
  33   @Override
  34   protected void initialize() {
  35     t.reset();
  36   }
  37
  38   @Override
  39   protected void execute() {
  40     if (t.get() % 1 == 0) {
  41       if (Shooter.getShooter().getPistonValue() == Constants.Shooter.LOW_GEAR) {
  42         Shooter.getShooter().setHighGear();
  43       } else {
  44         Shooter.getShooter().setLowGear();
  45       }
  46     }
  47
  48     double shooterSpeed = shooter.getShooterRPM();
  49     double targetShooterSpeed = shooter.getTargetShootingSpeed();
  50     double threshold = shooter.getRPMThreshold();
  51     if (Math.abs(shooterSpeed - targetShooterSpeed) <= threshold)
  52       shooter.runIndexWheel();
  53   }
  54
  55   @Override
  56   protected void end() {
  57     shooter.stopIndexWheel();
  58   }
  59
  60   @Override
  61   protected void interrupted() {
  62     end();
  63   }
  64
  65   @Override
  66   protected boolean isFinished() {
  67     return false;
  68   }
  69
  70 }