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I wrote code for incrreasing and decreasing shooting speed and added necessary consta...
[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..78506882140bd14c817d8f05014baa11018afb30 100644
(file)
--- a/
src/org/usfirst/frc/team3501/robot/commands/shooter/RunFlyWheel.java
+++ b/
src/org/usfirst/frc/team3501/robot/commands/shooter/RunFlyWheel.java
@@
-1,6
+1,7
@@
package org.usfirst.frc.team3501.robot.commands.shooter;
import org.usfirst.frc.team3501.robot.Robot;
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;
import edu.wpi.first.wpilibj.Timer;
import edu.wpi.first.wpilibj.command.Command;
@@
-12,8
+13,8
@@
import edu.wpi.first.wpilibj.command.Command;
* @author Shaina
*/
public class RunFlyWheel extends Command {
* @author Shaina
*/
public class RunFlyWheel extends Command {
+ private Shooter shooter = Robot.getShooter();
Timer timer;
Timer timer;
- private double motorVal;
private double time;
/**
private double time;
/**
@@
-24,11
+25,10
@@
public class RunFlyWheel extends Command {
* @param time
* in seconds, amount of time to run fly wheel motor
*/
* @param time
* in seconds, amount of time to run fly wheel motor
*/
- public RunFlyWheel(double
motorVal, double
time) {
- requires(
Robot.getShooter()
);
+ public RunFlyWheel(double time) {
+ requires(
shooter
);
timer = new Timer();
timer = new Timer();
- this.motorVal = motorVal;
this.time = time;
}
this.time = time;
}
@@
-36,7
+36,7
@@
public class RunFlyWheel extends Command {
@Override
protected void initialize() {
timer.start();
@Override
protected void initialize() {
timer.start();
-
Robot.getShooter().setFlyWheelMotorVal(motorVal
);
+
shooter.setFlyWheelMotorVal(shooter.CURRENT_SHOOTING_SPEED
);
}
// Called repeatedly when this Command is scheduled to run
}
// Called repeatedly when this Command is scheduled to run
@@
-47,7
+47,7
@@
public class RunFlyWheel extends Command {
// Called once after isFinished returns true
@Override
protected void end() {
// 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
}
// Called when another command which requires one or more of the same