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 import edu.wpi.first.wpilibj.Timer;
   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   public RunIndexWheelContinuous() {
  28     requires(shooter);
  29   }
  30
  31   @Override
  32   protected void initialize() {
  33     t.start();
  34   }
  35
  36   @Override
  37   protected void execute() {
  38     /*
  39      * if (t.get() >= 1) { if (Shooter.getShooter().getPistonValue() ==
  40      * Constants.Shooter.LOW_GEAR) { Shooter.getShooter().setHighGear(); } else
  41      * { Shooter.getShooter().setLowGear(); } t.reset(); }
  42      */
  43
  44     // if (shooter.isShooterRPMWithinRangeOfTargetSpeed(25))
  45     if (shooter.getShooterRPM() > 0)
  46       shooter.runIndexWheel();
  47
  48   }
  49
  50   @Override
  51   protected void end() {
  52     shooter.stopIndexWheel();
  53   }
  54
  55   @Override
  56   protected void interrupted() {
  57     end();
  58   }
  59
  60   @Override
  61   protected boolean isFinished() {
  62     return false;
  63   }
  64
  65 }