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 import edu.wpi.first.wpilibj.Timer;
   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   private Timer t = new Timer();
  24
  25   /**
  26    * See JavaDoc comment in class for details
  27    *
  28    * @param motorVal
  29    *          value range from -1 to 1
  30    */
  31   public RunIndexWheelContinuous() {
  32     requires(shooter);
  33   }
  34
  35   // Called just before this Command runs the first time
  36   @Override
  37   protected void initialize() {
  38     t.start();
  39   }
  40
  41   // Called repeatedly when this Command is scheduled to run
  42   @Override
  43   protected void execute() {
  44
  45     if (t.get() >= 1) {
  46       if (Shooter.getShooter().getPistonValue() == Constants.Shooter.LOW_GEAR) {
  47         Shooter.getShooter().setHighGear();
  48       } else {
  49         Shooter.getShooter().setLowGear();
  50       }
  51       t.reset();
  52     }
  53
  54     double shooterSpeed = shooter.getShooterRPM();
  55     if (shooterSpeed > 0)
  56       shooter.runIndexWheel();
  57   }
  58
  59   // Called once after isFinished returns true
  60   @Override
  61   protected void end() {
  62     shooter.stopIndexWheel();
  63   }
  64
  65   // Called when another command which requires one or more of the same
  66   // subsystems is scheduled to run
  67   @Override
  68   protected void interrupted() {
  69     end();
  70   }
  71
  72   @Override
  73   protected boolean isFinished() {
  74     return false;
  75
  76   }
  77
  78 }