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    * @param motorVal
  27    *          value range from -1 to 1
  28    */
  29   public RunIndexWheelContinuous() {
  30     requires(shooter);
  31   }
  32
  33   // Called just before this Command runs the first time
  34   @Override
  35   protected void initialize() {
  36   }
  37
  38   // Called repeatedly when this Command is scheduled to run
  39   @Override
  40   protected void execute() {
  41     double shooterSpeed = shooter.getShooterRPM();
  42     if (shooterSpeed > 0)
  43       shooter.runIndexWheel();
  44   }
  45
  46   // Called once after isFinished returns true
  47   @Override
  48   protected void end() {
  49     shooter.stopIndexWheel();
  50   }
  51
  52   // Called when another command which requires one or more of the same
  53   // subsystems is scheduled to run
  54   @Override
  55   protected void interrupted() {
  56     end();
  57   }
  58
  59   @Override
  60   protected boolean isFinished() {
  61     return false;
  62
  63   }
  64
  65 }