/**
* See JavaDoc comment in class for details
- *
- * @param motorVal
- * value range from -1 to 1
*/
public RunIndexWheelContinuous() {
requires(shooter);
}
- // 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() {
- shooter.setIndexWheelMotorVal(shooter.DEFAULT_INDEXING_SPEED);
+ 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 Robot.getOI().toggleIndexWheel.get();
-
+ return false;
}
}