public class ReverseIndexWheelContinuous extends Command {
private Shooter shooter = Robot.getShooter();
+ private double previousMotorValue = 0;
+ private double targetMotorValue = -shooter.DEFAULT_INDEXING_MOTOR_VALUE;
+
/**
* See JavaDoc comment in class for details
*
* value range from -1 to 1
*/
public ReverseIndexWheelContinuous() {
- requires(shooter);
}
// Called just before this Command runs the first time
// Called repeatedly when this Command is scheduled to run
@Override
protected void execute() {
- shooter.setIndexWheelMotorVal(shooter.DEFAULT_INDEXING_SPEED * -1);
+ double motorValue = (6 * previousMotorValue + targetMotorValue) / 7;
+ previousMotorValue = motorValue;
+ shooter.setIndexWheelMotorVal(motorValue);
}
// Called once after isFinished returns true
@Override
protected void end() {
+ shooter.stopIndexWheel();
}
// Called when another command which requires one or more of the same