driver practice changes

[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 77ebe24c4a42e2e17d7297346f05cabedec372dd..95940130f11aac8c50ebc54dc29af5d2d13dcf76 100644 (file)
--- a/src/org/usfirst/frc/team3501/robot/commands/shooter/RunIndexWheelContinuous.java
+++ b/src/org/usfirst/frc/team3501/robot/commands/shooter/RunIndexWheelContinuous.java
@@ -1,16 +1,67 @@
 package org.usfirst.frc.team3501.robot.commands.shooter;
 
+import org.usfirst.frc.team3501.robot.Constants;
+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 {
+  private Shooter shooter = Robot.getShooter();
+
+  /**
+   * See JavaDoc comment in class for details
+   */
+  public RunIndexWheelContinuous() {
+    requires(shooter);
+  }
+
+  @Override
+  protected void initialize() {
+  }
+
+  @Override
+  protected void execute() {
+    if (timeSinceInitialized() % 0.5 <= 0.02) {
+      if (Shooter.getShooter().getPistonValue() == Constants.Shooter.LOW_GEAR) {
+        Shooter.getShooter().setHighGear();
+      } else {
+        Shooter.getShooter().setLowGear();
+      }
+    }
+
+    double shooterSpeed = shooter.getShooterRPM();
+    double targetShooterSpeed = shooter.getTargetShootingSpeed();
+    double threshold = shooter.getRPMThreshold();
+    if (Math.abs(shooterSpeed - targetShooterSpeed) <= threshold)
+      shooter.runIndexWheel();
+  }
+
+  @Override
+  protected void end() {
+    shooter.stopIndexWheel();
+  }
+
+  @Override
+  protected void interrupted() {
+    end();
+  }
 
-       @Override
-       protected boolean isFinished() {
-               // TODO Auto-generated method stub
-               return false;
-       }
+  @Override
+  protected boolean isFinished() {
+    return false;
+  }
 
 }