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 {
- public RunIndexWheelContinuous() {
-
- }
-
- // 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() {
- }
-
- // Called once after isFinished returns true
- @Override
- protected void end() {
- }
-
- // Called when another command which requires one or more of the same
- // subsystems is scheduled to run
- @Override
- protected void interrupted() {
- }
-
- @Override
- protected boolean isFinished() {
- // TODO Auto-generated method stub
- return false;
- }
+ 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() {
+ return false;
+ }
}