package org.usfirst.frc.team3501.robot.commands.shooter;
+import org.usfirst.frc.team3501.robot.Robot;
+import org.usfirst.frc.team3501.robot.subsystems.Shooter;
+import org.usfirst.frc.team3501.robot.utils.PIDController;
+
import edu.wpi.first.wpilibj.command.Command;
/**
- * Runs the fly wheel at a given speed in () for input time in seconds
+ * This command runs the fly wheel continuously at a set speed using a PID
+ * Controller when OI button managing fly wheel is pressed. The command will run
+ * the fly wheel motor until the button triggering it is released.
+ *
+ * Should only be run from the operator interface.
*
- * @param speed
- * in ()
- * @param time
- * in seconds
+ * pre-condition: This command must be run by a button in OI, with
+ * button.whileHeld(...).
+ *
+ * @author Shaina & Chris
*/
public class RunFlyWheel extends Command {
+ private Shooter shooter = Robot.getShooter();
+ double time;
+
+ private PIDController wheelController;
+
+ public RunFlyWheel(double time) {
+ this.time = time;
+ }
+
+ @Override
+ protected void initialize() {
+ shooter.initializePIDController();
+ }
+
+ @Override
+ protected void execute() {
+ shooter.setFlyWheelMotorVal(shooter.calculateShooterSpeed());
+ }
+
+ @Override
+ protected boolean isFinished() {
+ return timeSinceInitialized() >= time;
+ }
- @Override
- protected boolean isFinished() {
- // TODO Auto-generated method stub
- return false;
- }
+ @Override
+ protected void end() {
+ this.shooter.stopFlyWheel();
+ }
+ @Override
+ protected void interrupted() {
+ end();
+ }
}