Add buttons to OI class

[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 b206d1d4d9b1948a4f50f7e6b61cbbd4c5fbff1a..b4eed57abe0862ae574c3ad83a3279998f183745 100644 (file)
--- a/src/org/usfirst/frc/team3501/robot/commands/shooter/RunIndexWheelContinuous.java
+++ b/src/org/usfirst/frc/team3501/robot/commands/shooter/RunIndexWheelContinuous.java
@@ -1,20 +1,38 @@
 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 when corresponding button is pressed
+ * 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
+ * @author Shaina
  */
 public class RunIndexWheelContinuous extends Command {
-  public RunIndexWheelContinuous() {
-
+  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
@@ -31,11 +49,13 @@ public class RunIndexWheelContinuous extends Command {
   // subsystems is scheduled to run
   @Override
   protected void interrupted() {
+    end();
   }
 
   @Override
   protected boolean isFinished() {
-    return false;
+    return Robot.getOI().toggleIndexWheel.get();
+
   }
 
 }