@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();
+ if (Shooter.getShooter().getPistonValue() == Constants.Shooter.LOW_GEAR) {
+ Shooter.getShooter().setHighGear();
} else {
- System.out.println("shifting to high gear " + timeSinceInitialized());
- Robot.getDriveTrain().setLowGear();
+ Shooter.getShooter().setLowGear();
}
}
- shooter.runIndexWheel();
+
+ double shooterSpeed = shooter.getShooterRPM();
+ double targetShooterSpeed = shooter.getTargetShootingSpeed();
+ double threshold = shooter.getRPMThreshold();
+ if (Math.abs(shooterSpeed - targetShooterSpeed) <= threshold)
+ shooter.runIndexWheel();
}
@Override
@Override
protected boolean isFinished() {
return false;
-
}
}