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 f57cd5bc607865b133f1e18ec786cc796a5075cc..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
@@ -1,5 +1,9 @@
 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;
 
 /**
@@ -9,7 +13,8 @@ import edu.wpi.first.wpilibj.command.Command;
  * @author Shaina
  */
 public class RunFlyWheel extends Command {
-  private double motorVal;
+  private Shooter shooter = Robot.getShooter();
+  Timer timer;
   private double time;
 
   /**
@@ -20,14 +25,18 @@ public class RunFlyWheel extends Command {
    * @param time
    *          in seconds, amount of time to run fly wheel motor
    */
-  public RunFlyWheel(double motorVal, double time) {
-    this.motorVal = motorVal;
+  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() {
+    timer.start();
+    shooter.setFlyWheelMotorVal(shooter.CURRENT_SHOOTING_SPEED);
   }
 
   // Called repeatedly when this Command is scheduled to run
@@ -38,17 +47,19 @@ public class RunFlyWheel extends Command {
   // Called once after isFinished returns true
   @Override
   protected void end() {
+    shooter.stopFlyWheel();
   }
 
   // Called when another command which requires one or more of the same
   // subsystems is scheduled to run
   @Override
   protected void interrupted() {
+    end();
   }
 
   @Override
   protected boolean isFinished() {
-    return false;
+    return timer.get() >= time;
   }
 
 }