code review changes

[3501/2017steamworks] / src / org / usfirst / frc / team3501 / robot / commands / shooter / RunFlyWheel.java

diff --git a/src/org/usfirst/frc/team3501/robot/commands/shooter/RunFlyWheel.java b/src/org/usfirst/frc/team3501/robot/commands/shooter/RunFlyWheel.java
index c5101fc7d0dea5e23353b3a6c6b890ad35247450..5abd73afe9fc64c798762a7dca6a92fd2a5b7b64 100644 (file)
--- a/src/org/usfirst/frc/team3501/robot/commands/shooter/RunFlyWheel.java
+++ b/src/org/usfirst/frc/team3501/robot/commands/shooter/RunFlyWheel.java
@@ -1,4 +1,3 @@
-
 package org.usfirst.frc.team3501.robot.commands.shooter;
 
 import org.usfirst.frc.team3501.robot.Robot;
@@ -8,66 +7,49 @@ import org.usfirst.frc.team3501.robot.utils.PIDController;
 import edu.wpi.first.wpilibj.command.Command;
 
 /**
- * This command runs the fly wheel at a specific speed using a PID Controller
- * for accuracy for a given time. The fly wheel is intended to shoot balls fed
- * by the intake wheel.
+ * 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.
+ *
+ * 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();
-  private double maxTimeOut;
+  double time;
 
   private PIDController wheelController;
-  private double wheelP;
-  private double wheelI;
-  private double wheelD;
-  private double target;
-  private double shooterSpeed = 0;
-
-  public RunFlyWheel(double maxTimeOut) {
 
-    this.wheelP = this.shooter.wheelP;
-    this.wheelI = this.shooter.wheelI;
-    this.wheelD = this.shooter.wheelD;
-    this.wheelController = new PIDController(this.wheelP, this.wheelI,
-        this.wheelD);
-    this.wheelController.setDoneRange(0.5);
-    this.wheelController.setMaxOutput(1.0);
-    this.wheelController.setMinDoneCycles(3);
-    this.target = this.shooter.getCurrentShootingSpeed();
+  public RunFlyWheel(double time) {
+    this.time = time;
   }
 
-  // Called just before this Command runs the first time
   @Override
   protected void initialize() {
-    this.wheelController.setSetPoint(this.target);
+    shooter.initializePIDController();
   }
 
-  // Called repeatedly when this Command is scheduled to run
   @Override
   protected void execute() {
-    double calculatedShooterIncrement = this.wheelController
-        .calcPID(this.shooter.getShooterRPM());
-    shooterSpeed += calculatedShooterIncrement;
-    this.shooter.setFlyWheelMotorVal(shooterSpeed);
+    shooter.setFlyWheelMotorVal(shooter.calculateShooterSpeed());
   }
 
-  // Make this return true when this Command no longer needs to run execute()
   @Override
   protected boolean isFinished() {
-    return timeSinceInitialized() >= maxTimeOut;
+    return timeSinceInitialized() >= time;
   }
 
-  // Called once after isFinished returns true
   @Override
   protected void end() {
     this.shooter.stopFlyWheel();
   }
 
-  // Called when another command which requires one or more of the same
-  // subsystems is scheduled to run
   @Override
   protected void interrupted() {
+    end();
   }
 }