Add buttons to OI class

[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 6f306f85e97bea7f37474f4770753b2a35affade..83b66c08b0d8d8e31d3927489ae8fe4129cad5e3 100644 (file)
--- a/src/org/usfirst/frc/team3501/robot/commands/shooter/RunIndexWheelContinuous.java
+++ b/src/org/usfirst/frc/team3501/robot/commands/shooter/RunIndexWheelContinuous.java
@@ -1,11 +1,16 @@
 package org.usfirst.frc.team3501.robot.commands.shooter;
 
+import org.usfirst.frc.team3501.robot.Robot;
+
 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(...).
  *
@@ -27,6 +32,7 @@ public class RunIndexWheelContinuous extends Command {
   // 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
@@ -43,11 +49,12 @@ public class RunIndexWheelContinuous extends Command {
   // subsystems is scheduled to run
   @Override
   protected void interrupted() {
+    end();
   }
 
   @Override
   protected boolean isFinished() {
-    return false;
+    return Robot.getOI().toggleIndexWheel.get();
   }
 
 }