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;
/**
* pre-condition: fly wheel is running at full speed to prepare for shooting
* fuel
*
- *
- * @param motorVal
- * [-1,1]
- * @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;
}
// 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;
}
}