competition fixes

[3501/2017steamworks] / src / org / usfirst / frc / team3501 / robot / commands / shooter / RunIndexWheelContinuous.java

diff --git a/src/org/usfirst/frc/team3501/robot/commands/shooter/RunIndexWheelContinuous.java b/src/org/usfirst/frc/team3501/robot/commands/shooter/RunIndexWheelContinuous.java
index 412b4731d160ed5c947b0597290dea34fa862bc9..1cd3e772762b5cdf6907338997a73fdc4973dde2 100644 (file)
--- a/src/org/usfirst/frc/team3501/robot/commands/shooter/RunIndexWheelContinuous.java
+++ b/src/org/usfirst/frc/team3501/robot/commands/shooter/RunIndexWheelContinuous.java
@@ -1,37 +1,63 @@
 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 continuously until ________
+ * 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 {
-
-       // Called just before this Command runs the first time
-       @Override
-       protected void initialize() {
-       }
-
-       // Called repeatedly when this Command is scheduled to run
-       @Override
-       protected void execute() {
-       }
-
-       // Called once after isFinished returns true
-       @Override
-       protected void end() {
-       }
-
-       // Called when another command which requires one or more of the same
-       // subsystems is scheduled to run
-       @Override
-       protected void interrupted() {
-       }
-
-       @Override
-       protected boolean isFinished() {
-               // TODO Auto-generated method stub
-               return false;
-       }
+  private Shooter shooter = Robot.getShooter();
+
+  private double previousMotorValue = 0;
+  private double targetMotorValue = shooter.DEFAULT_INDEXING_MOTOR_VALUE;
+
+  /**
+   * See JavaDoc comment in class for details
+   */
+  public RunIndexWheelContinuous() {
+  }
+
+  @Override
+  protected void initialize() {
+  }
+
+  @Override
+  protected void execute() {
+    double shooterSpeed = shooter.getShooterRPM();
+    double targetShooterSpeed = shooter.getTargetShootingSpeed();
+    double threshold = shooter.getRPMThreshold();
+    if (Math.abs(shooterSpeed - targetShooterSpeed) <= threshold) {
+      double motorValue = (6 * previousMotorValue + targetMotorValue) / 7;
+      previousMotorValue = motorValue;
+      shooter.setIndexWheelMotorVal(motorValue);
+    }
+  }
+
+  @Override
+  protected void end() {
+    shooter.stopIndexWheel();
+  }
+
+  @Override
+  protected void interrupted() {
+    end();
+  }
+
+  @Override
+  protected boolean isFinished() {
+    return false;
+  }
 
 }