package org.usfirst.frc.team3501.robot.commands.shooter;
+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.
*
- * pre-condition: This command must be run by a button in OI.
- *
- * @param motorVal
- * [-1,1]
- * @author shaina
+ * 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;
+ 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() {
+ 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
protected boolean isFinished() {
return false;
+
}
}