code review changes

[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 5cb3ada2c93251a7b15c51842c8c0c27e7eb983b..6abb095b60a0a5ac74de61627244f479ae2248f6 100644 (file)
--- a/src/org/usfirst/frc/team3501/robot/commands/shooter/RunIndexWheel.java
+++ b/src/org/usfirst/frc/team3501/robot/commands/shooter/RunIndexWheel.java
@@ -1,22 +1,32 @@
 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 index wheel at a given speed in () for given time in seconds
+ * This command runs index wheel at a given speed for given time in seconds.
+ *
+ * pre-condition: fly wheel is running at full speed to prepare for shooting
+ * fuel
  *
- * @param speed
- *          in ()
- * @param time
- *          in seconds
- * @author shaina
+ * @author Shaina
  */
 public class RunIndexWheel extends Command {
+  private Shooter shooter = Robot.getShooter();
   private double time;
-  private double motorVal;
 
-  public RunIndexWheel(double motorVal, double time) {
-    this.motorVal = motorVal;
+  /**
+   * See JavaDoc comment in class for details
+   *
+   * @param motorVal
+   *          value range from -1 to 1
+   * @param time
+   *          in seconds, amount of time to run index wheel motor
+   */
+  public RunIndexWheel(double time) {
+    requires(shooter);
     this.time = time;
   }
 
@@ -28,22 +38,29 @@ public class RunIndexWheel extends Command {
   // Called repeatedly when this Command is scheduled to run
   @Override
   protected void execute() {
+    double shooterSpeed = shooter.getShooterRPM();
+    double targetShooterSpeed = shooter.getTargetShootingSpeed();
+    double threshold = shooter.getRPMThreshold();
+    if (Math.abs(shooterSpeed - targetShooterSpeed) <= threshold)
+      shooter.runIndexWheel();
   }
 
   // Called once after isFinished returns true
   @Override
   protected void end() {
+    shooter.stopIndexWheel();
   }
 
   // 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 timeSinceInitialized() >= time;
   }
 
 }