@Override
protected void execute() {
double shooterSpeed = shooter.getShooterRPM();
- if (shooterSpeed > 0) {
- shooter.setIndexWheelMotorVal(shooter.DEFAULT_INDEXING_SPEED);
- }
+ double targetShooterSpeed = shooter.getTargetShootingSpeed();
+ double threshold = shooter.getRPMThreshold();
+ if (Math.abs(shooterSpeed - targetShooterSpeed) <= threshold)
+ shooter.runIndexWheel();
}
// Called once after isFinished returns true