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 976a1883ef8982086510318bdbdf2e24ae430570..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
@@ -1,44 +1,62 @@
 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;
 
 /**
- * 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(...).
  *
- * @param motorVal
- *          value range is from -1 to 1
- * @author shaina
+ * @author Shaina
  */
 public class RunIndexWheelContinuous extends Command {
-  private double motorVal;
+  private Shooter shooter = Robot.getShooter();
 
-  public RunIndexWheelContinuous(double motorVal) {
-    this.motorVal = motorVal;
+  /**
+   * See JavaDoc comment in class for details
+   */
+  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() {
+    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();
   }
 
-  // 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