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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 78506882140bd14c817d8f05014baa11018afb30..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
@@
-3,7
+3,6
@@
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.Robot;
import org.usfirst.frc.team3501.robot.subsystems.Shooter;
-import edu.wpi.first.wpilibj.Timer;
import edu.wpi.first.wpilibj.command.Command;
/**
import edu.wpi.first.wpilibj.command.Command;
/**
@@
-14,7
+13,6
@@
import edu.wpi.first.wpilibj.command.Command;
*/
public class RunFlyWheel extends Command {
private Shooter shooter = Robot.getShooter();
*/
public class RunFlyWheel extends Command {
private Shooter shooter = Robot.getShooter();
- Timer timer;
private double time;
/**
private double time;
/**
@@
-27,21
+25,18
@@
public class RunFlyWheel extends Command {
*/
public RunFlyWheel(double time) {
requires(shooter);
*/
public RunFlyWheel(double time) {
requires(shooter);
-
- timer = new Timer();
this.time = time;
}
// Called just before this Command runs the first time
@Override
protected void initialize() {
this.time = time;
}
// Called just before this Command runs the first time
@Override
protected void initialize() {
- timer.start();
- shooter.setFlyWheelMotorVal(shooter.CURRENT_SHOOTING_SPEED);
}
// 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() {
+ shooter.setFlyWheelMotorVal(shooter.CURRENT_SHOOTING_SPEED);
}
// Called once after isFinished returns true
}
// Called once after isFinished returns true
@@
-59,7
+54,7
@@
public class RunFlyWheel extends Command {
@Override
protected boolean isFinished() {
@Override
protected boolean isFinished() {
- return time
r.get
() >= time;
+ return time
SinceInitialized
() >= time;
}
}
}
}