move setmotorvalues to execute and set wheels to constant speeds

[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 203f9dce79a4eb3088eb1155e9e67dfa1fbac036..6ac5d69f3e1934c557adde63add9c5a72d4c5982 100644 (file)
--- a/src/org/usfirst/frc/team3501/robot/commands/shooter/RunFlyWheel.java
+++ b/src/org/usfirst/frc/team3501/robot/commands/shooter/RunFlyWheel.java
@@ -1,8 +1,8 @@
 package org.usfirst.frc.team3501.robot.commands.shooter;
 
 import org.usfirst.frc.team3501.robot.Robot;
+import org.usfirst.frc.team3501.robot.subsystems.Shooter;
 
-import edu.wpi.first.wpilibj.Timer;
 import edu.wpi.first.wpilibj.command.Command;
 
 /**
@@ -12,8 +12,7 @@ import edu.wpi.first.wpilibj.command.Command;
  * @author Shaina
  */
 public class RunFlyWheel extends Command {
-  Timer timer;
-  private double motorVal;
+  private Shooter shooter = Robot.getShooter();
   private double time;
 
   /**
@@ -24,30 +23,26 @@ public class RunFlyWheel extends Command {
    * @param time
    *          in seconds, amount of time to run fly wheel motor
    */
-  public RunFlyWheel(double motorVal, double time) {
-    requires(Robot.getShooter());
-
-    timer = new Timer();
-    this.motorVal = motorVal;
+  public RunFlyWheel(double time) {
+    requires(shooter);
     this.time = time;
   }
 
   // Called just before this Command runs the first time
   @Override
   protected void initialize() {
-    timer.start();
-    Robot.getShooter().setFlyWheelMotorVal(motorVal);
   }
 
   // Called repeatedly when this Command is scheduled to run
   @Override
   protected void execute() {
+    shooter.setFlyWheelMotorVal(shooter.CURRENT_SHOOTING_SPEED);
   }
 
   // Called once after isFinished returns true
   @Override
   protected void end() {
-    Robot.getShooter().stopFlyWheel();
+    shooter.stopFlyWheel();
   }
 
   // Called when another command which requires one or more of the same
@@ -59,7 +54,7 @@ public class RunFlyWheel extends Command {
 
   @Override
   protected boolean isFinished() {
-    return timer.get() >= time;
+    return timeSinceInitialized() >= time;
   }
 
 }