package org.usfirst.frc.team3501.robot.commands.shooter;
+import org.usfirst.frc.team3501.robot.Robot;
+
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 double motorVal;
+
+ /**
+ * See JavaDoc comment in class for details
+ *
+ * @param motorVal
+ * value range from -1 to 1
+ */
+ public RunIndexWheelContinuous(double motorVal) {
+ this.motorVal = motorVal;
+ }
+
+ // Called just before this Command runs the first time
+ @Override
+ protected void initialize() {
+ Robot.getShooter().setIndexWheelMotorVal(motorVal);
+ }
+
+ // 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() {
+ end();
+ }
+
+ @Override
+ protected boolean isFinished() {
+ return Robot.getOI().toggleIndexWheel.get();
- @Override
- protected boolean isFinished() {
- // TODO Auto-generated method stub
- return false;
- }
+ }
}