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
  23   /**
  24    * See JavaDoc comment in class for details
  25    */
  26   public RunIndexWheelContinuous() {
  27     requires(shooter);
  28   }
  29
  30   @Override
  31   protected void initialize() {
  32   }
  33
  34   @Override
  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();
  41   }
  42
  43   @Override
  44   protected void end() {
  45     shooter.stopIndexWheel();
  46   }
  47
  48   @Override
  49   protected void interrupted() {
  50     end();
  51   }
  52
  53   @Override
  54   protected boolean isFinished() {
  55     return false;
  56
  57   }
  58
  59 }