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 d9966f1171494ace578ccc72ae081a5bbed46c10..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
@@ -39,7 +39,9 @@ public class RunIndexWheel extends Command {
   @Override
   protected void execute() {
     double shooterSpeed = shooter.getShooterRPM();
-    if (shooterSpeed > 0)
+    double targetShooterSpeed = shooter.getTargetShootingSpeed();
+    double threshold = shooter.getRPMThreshold();
+    if (Math.abs(shooterSpeed - targetShooterSpeed) <= threshold)
       shooter.runIndexWheel();
   }