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.
*
- * pre-condition: This command must be run by a button in OI.
- *
- * @param motorVal
- * [-1,1]
- * @author shaina
+ * 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;
+ /**
+ * See JavaDoc comment in class for details
+ *
+ * @param motorVal
+ * value range from -1 to 1
+ */
public RunIndexWheelContinuous(double motorVal) {
this.motorVal = motorVal;
}
// 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
// subsystems is scheduled to run
@Override
protected void interrupted() {
+ end();
}
@Override
protected boolean isFinished() {
- return false;
+ return Robot.getOI().toggleIndexWheel.get();
}
}