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
   5 import edu.wpi.first.wpilibj.command.Command;
   6
   7 /**
   8  * This command runs index wheel continuously when OI button managing index
   9  * wheel is pressed. The command will run the index wheel motor until the button
  10  * triggering it is released.
  11  *
  12  * Should only be run from the operator interface.
  13  *
  14  * pre-condition: This command must be run by a button in OI with
  15  * button.whileHeld(...).
  16  *
  17  * @author Shaina
  18  */
  19 public class RunIndexWheelContinuous extends Command {
  20   private double motorVal;
  21
  22   /**
  23    * See JavaDoc comment in class for details
  24    *
  25    * @param motorVal
  26    *          value range from -1 to 1
  27    */
  28   public RunIndexWheelContinuous(double motorVal) {
  29     this.motorVal = motorVal;
  30   }
  31
  32   // Called just before this Command runs the first time
  33   @Override
  34   protected void initialize() {
  35     Robot.getShooter().setIndexWheelMotorVal(motorVal);
  36   }
  37
  38   // Called repeatedly when this Command is scheduled to run
  39   @Override
  40   protected void execute() {
  41   }
  42
  43   // Called once after isFinished returns true
  44   @Override
  45   protected void end() {
  46   }
  47
  48   // Called when another command which requires one or more of the same
  49   // subsystems is scheduled to run
  50   @Override
  51   protected void interrupted() {
  52     end();
  53   }
  54
  55   @Override
  56   protected boolean isFinished() {
  57     return Robot.getOI().toggleIndexWheel.get();
  58   }
  59
  60 }