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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 da3fee1cb6bdfaf542cafe339e28d45e568ab90e..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
@@
-1,5
+1,6
@@
package org.usfirst.frc.team3501.robot.commands.shooter;
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 org.usfirst.frc.team3501.robot.Robot;
import org.usfirst.frc.team3501.robot.subsystems.Shooter;
@@
-22,35
+23,37
@@
public class RunIndexWheelContinuous extends Command {
/**
* See JavaDoc comment in class for details
/**
* See JavaDoc comment in class for details
- *
- * @param motorVal
- * value range from -1 to 1
*/
public RunIndexWheelContinuous() {
requires(shooter);
}
*/
public RunIndexWheelContinuous() {
requires(shooter);
}
- // Called just before this Command runs the first time
@Override
protected void initialize() {
}
@Override
protected void initialize() {
}
- // Called repeatedly when this Command is scheduled to run
@Override
protected void execute() {
@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 shooterSpeed = shooter.getShooterRPM();
- if (shooterSpeed > 0)
+ double targetShooterSpeed = shooter.getTargetShootingSpeed();
+ double threshold = shooter.getRPMThreshold();
+ if (Math.abs(shooterSpeed - targetShooterSpeed) <= threshold)
shooter.runIndexWheel();
}
shooter.runIndexWheel();
}
- // Called once after isFinished returns true
@Override
protected void end() {
shooter.stopIndexWheel();
}
@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
protected void interrupted() {
end();
@@
-59,7
+62,6
@@
public class RunIndexWheelContinuous extends Command {
@Override
protected boolean isFinished() {
return false;
@Override
protected boolean isFinished() {
return false;
-
}
}
}
}