move setmotorvalues to execute and set wheels to constant speeds

[3501/2017steamworks] / src / org / usfirst / frc / team3501 / robot / commands / shooter / RunFlyWheelContinuous.java

diff --git a/src/org/usfirst/frc/team3501/robot/commands/shooter/RunFlyWheelContinuous.java b/src/org/usfirst/frc/team3501/robot/commands/shooter/RunFlyWheelContinuous.java
index c1a316502873df4e42f8ce2c19f69b8595df1084..af77483c85939ffa7205610078a4ee2630275805 100644 (file)
--- a/src/org/usfirst/frc/team3501/robot/commands/shooter/RunFlyWheelContinuous.java
+++ b/src/org/usfirst/frc/team3501/robot/commands/shooter/RunFlyWheelContinuous.java
@@ -1,19 +1,33 @@
 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.command.Command;
 
 /**
- * Runs fly wheel continuously when corresponding button pressed
+ * 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.
+ *
+ * Should only be run from the operator interface.
  *
- * @param motorVal
- *          motor value
- * @author shaina
+ * pre-condition: This command must be run by a button in OI, with
+ * button.whileHeld(...).
+ *
+ * @author Shaina
  */
 public class RunFlyWheelContinuous extends Command {
-  private double motorVal;
-
-  public RunFlyWheelContinuous(double motorVal) {
-    this.motorVal = motorVal;
+  private Shooter shooter = Robot.getShooter();
+
+  /**
+   * See JavaDoc comment in class for details
+   *
+   * @param motorVal
+   *          value range from -1 to 1
+   */
+  public RunFlyWheelContinuous() {
+    requires(shooter);
   }
 
   // Called just before this Command runs the first time
@@ -24,6 +38,7 @@ public class RunFlyWheelContinuous extends Command {
   // 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
@@ -35,11 +50,12 @@ public class RunFlyWheelContinuous extends Command {
   // subsystems is scheduled to run
   @Override
   protected void interrupted() {
+    end();
   }
 
   @Override
   protected boolean isFinished() {
-    return false;
+    return !Robot.getOI().toggleFlyWheel.get();
   }
 
 }