Only run indexwheel if flywheel is running

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

diff --git a/src/org/usfirst/frc/team3501/robot/commands/shooter/RunIndexWheel.java b/src/org/usfirst/frc/team3501/robot/commands/shooter/RunIndexWheel.java
index 68383544bf95779ff7b7b79f887703b9a8942a83..3f8baa0c3ffe2527e59701e9967115371685f979 100644 (file)
--- a/src/org/usfirst/frc/team3501/robot/commands/shooter/RunIndexWheel.java
+++ b/src/org/usfirst/frc/team3501/robot/commands/shooter/RunIndexWheel.java
@@ -38,7 +38,10 @@ public class RunIndexWheel extends Command {
   // Called repeatedly when this Command is scheduled to run
   @Override
   protected void execute() {
-    shooter.setIndexWheelMotorVal(shooter.DEFAULT_INDEXING_SPEED);
+    double shooterSpeed = shooter.getShooterRPM();
+    if (shooterSpeed > 0) {
+      shooter.setIndexWheelMotorVal(shooter.DEFAULT_INDEXING_SPEED);
+    }
   }
 
   // Called once after isFinished returns true