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competition fixes
[3501/2017steamworks]
/
src
/
org
/
usfirst
/
frc
/
team3501
/
robot
/
commands
/
intake
/
RunIntakeContinuous.java
diff --git
a/src/org/usfirst/frc/team3501/robot/commands/intake/RunIntakeContinuous.java
b/src/org/usfirst/frc/team3501/robot/commands/intake/RunIntakeContinuous.java
index 3188fe6a688e946c02a884a2ea603f3b17338566..5d26e02220d7b580d0b7941ff57b1c688e46fc49 100644
(file)
--- a/
src/org/usfirst/frc/team3501/robot/commands/intake/RunIntakeContinuous.java
+++ b/
src/org/usfirst/frc/team3501/robot/commands/intake/RunIntakeContinuous.java
@@
-1,6
+1,7
@@
package org.usfirst.frc.team3501.robot.commands.intake;
import org.usfirst.frc.team3501.robot.Robot;
package org.usfirst.frc.team3501.robot.commands.intake;
import org.usfirst.frc.team3501.robot.Robot;
+import org.usfirst.frc.team3501.robot.subsystems.Intake;
import edu.wpi.first.wpilibj.command.Command;
import edu.wpi.first.wpilibj.command.Command;
@@
-15,11
+16,13
@@
import edu.wpi.first.wpilibj.command.Command;
*
*/
public class RunIntakeContinuous extends Command {
*
*/
public class RunIntakeContinuous extends Command {
- // create setter method for speed, use setSpeed method to do end() by setting
- // speed to 0
+ private Intake intake = Robot.getIntake();
+
+ private double previousMotorValue = 0;
+ private double targetMotorValue = intake.INTAKE_SPEED;
public RunIntakeContinuous() {
public RunIntakeContinuous() {
- requires(
Robot.getIntake()
);
+ requires(
intake
);
}
@Override
}
@Override
@@
-30,13
+33,14
@@
public class RunIntakeContinuous extends Command {
// Called just before this Command runs the first time
@Override
protected void initialize() {
// Called just before this Command runs the first time
@Override
protected void initialize() {
-
}
// Called repeatedly when this Command is scheduled to run
@Override
protected void execute() {
}
// Called repeatedly when this Command is scheduled to run
@Override
protected void execute() {
- Robot.getIntake().runIntake();
+ double motorValue = (6 * previousMotorValue + targetMotorValue) / 7;
+ previousMotorValue = motorValue;
+ intake.setSpeed(motorValue);
}
// Called once after isFinished returns true
}
// Called once after isFinished returns true