package org.usfirst.frc.team3501.robot.commands.shooter;
+import org.usfirst.frc.team3501.robot.Constants;
import org.usfirst.frc.team3501.robot.Robot;
+import org.usfirst.frc.team3501.robot.subsystems.Shooter;
import edu.wpi.first.wpilibj.command.Command;
/**
- * This command will run the index wheel motor continuously until the button
+ * This command runs index wheel continuously when OI button managing index
+ * wheel is pressed. The command will run the index wheel motor until the button
* triggering it is released.
*
+ * Should only be run from the operator interface.
+ *
* pre-condition: This command must be run by a button in OI with
* button.whileHeld(...).
*
* @author Shaina
*/
public class RunIndexWheelContinuous extends Command {
- private double motorVal;
+ private Shooter shooter = Robot.getShooter();
/**
* See JavaDoc comment in class for details
- *
- * @param motorVal
- * value range from -1 to 1
*/
- public RunIndexWheelContinuous(double motorVal) {
- this.motorVal = motorVal;
+ public RunIndexWheelContinuous() {
+ requires(shooter);
}
- // Called just before this Command runs the first time
@Override
protected void initialize() {
- Robot.getShooter().setIndexWheelMotorVal(motorVal);
}
- // 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)
+
+ if (timeSinceInitialized() % 0.5 <= 0.02) {
+
+ if (Robot.getDriveTrain()
+ .getLeftGearPistonValue() == Constants.DriveTrain.LOW_GEAR) {
+ System.out.println("shifting to low gear " + timeSinceInitialized());
+ Robot.getDriveTrain().setHighGear();
+ } else {
+ System.out.println("shifting to high gear " + timeSinceInitialized());
+ Robot.getDriveTrain().setLowGear();
+ }
+ }
+ shooter.runIndexWheel();
}
- // Called once after isFinished returns true
@Override
protected void end() {
- Robot.getShooter().stopIndexWheel();
+ 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;
+
}
}