import edu.wpi.first.wpilibj.command.Command;
/**
- * This command runs the fly wheel continuously when OI button managing fly
- * wheel is pressed. The command will run the fly wheel motor until the button
- * triggering it is released.
+ * 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
+ * @author Shaina & Chris
*/
public class RunFlyWheelContinuous extends Command {
private Shooter shooter = Robot.getShooter();
public RunFlyWheelContinuous() {
// Use requires() here to declare subsystem dependencies
// eg. requires(chassis);
- requires(shooter);
this.wheelP = this.shooter.wheelP;
this.wheelI = this.shooter.wheelI;
}
// Called just before this Command runs the first time
+ @Override
protected void initialize() {
this.wheelController.setSetPoint(this.target);
}
// Called repeatedly when this Command is scheduled to run
+ @Override
protected void execute() {
double shooterSpeed = this.wheelController
- .calcPID(this.shooter.getShooterSpeed());
+ .calcPID(this.shooter.getShooterRPM());
this.shooter.setFlyWheelMotorVal(shooterSpeed);
}
// Make this return true when this Command no longer needs to run execute()
+ @Override
protected boolean isFinished() {
return false;
}
// 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();
+
}
}