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.command.Command;
   7
   8 /**
   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.
  12  *
  13  * Should only be run from the operator interface.
  14  *
  15  * pre-condition: This command must be run by a button in OI with
  16  * button.whileHeld(...).
  17  *
  18  * @author Shaina
  19  */
  20 public class RunIndexWheelContinuous extends Command {
  21   private Shooter shooter = Robot.getShooter();
  22   // private Timer t = new Timer();
  23
  24   /**
  25    * See JavaDoc comment in class for details
  26    *
  27    * @param motorVal
  28    *          value range from -1 to 1
  29    */
  30   public RunIndexWheelContinuous() {
  31     requires(shooter);
  32     // t.start();
  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     /*
  45      * if (t.get() >= 4) { if (Shooter.getShooter().getPistonValue() ==
  46      * Constants.Shooter.LOW_GEAR) { Shooter.getShooter().setHighGear(); } else
  47      * { Shooter.getShooter().setLowGear(); } }
  48      */
  49
  50     double shooterSpeed = shooter.getShooterRPM();
  51     if (shooterSpeed > 0)
  52       shooter.runIndexWheel();
  53   }
  54
  55   // Called once after isFinished returns true
  56   @Override
  57   protected void end() {
  58     shooter.stopIndexWheel();
  59   }
  60
  61   // Called when another command which requires one or more of the same
  62   // subsystems is scheduled to run
  63   @Override
  64   protected void interrupted() {
  65     end();
  66   }
  67
  68   @Override
  69   protected boolean isFinished() {
  70     return false;
  71
  72   }
  73
  74 }