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.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
  24   /**
  25    * See JavaDoc comment in class for details
  26    */
  27   public RunIndexWheelContinuous() {
  28     requires(shooter);
  29   }
  30
  31   @Override
  32   protected void initialize() {
  33   }
  34
  35   @Override
  36   protected void execute() {
  37     if (timeSinceInitialized() % 0.5 <= 0.02) {
  38       if (Shooter.getShooter().getPistonValue() == Constants.Shooter.LOW_GEAR) {
  39         Shooter.getShooter().setHighGear();
  40       } else {
  41         Shooter.getShooter().setLowGear();
  42       }
  43     }
  44
  45     double shooterSpeed = shooter.getShooterRPM();
  46     double targetShooterSpeed = shooter.getTargetShootingSpeed();
  47     double threshold = shooter.getRPMThreshold();
  48     if (Math.abs(shooterSpeed - targetShooterSpeed) <= threshold)
  49       shooter.runIndexWheel();
  50   }
  51
  52   @Override
  53   protected void end() {
  54     shooter.stopIndexWheel();
  55   }
  56
  57   @Override
  58   protected void interrupted() {
  59     end();
  60   }
  61
  62   @Override
  63   protected boolean isFinished() {
  64     return false;
  65   }
  66
  67 }