shooter code review 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 1bf1c6f0c4941cba314eeff63030e066f345e557..da3fee1cb6bdfaf542cafe339e28d45e568ab90e 100644 (file)
--- a/src/org/usfirst/frc/team3501/robot/commands/shooter/RunIndexWheelContinuous.java
+++ b/src/org/usfirst/frc/team3501/robot/commands/shooter/RunIndexWheelContinuous.java
@@ -27,23 +27,26 @@ public class RunIndexWheelContinuous extends Command {
    *          value range from -1 to 1
    */
   public RunIndexWheelContinuous() {
-
+    requires(shooter);
   }
 
   // Called just before this Command runs the first time
   @Override
   protected void initialize() {
-    shooter.setIndexWheelMotorVal(shooter.CURRENT_SHOOTING_SPEED);
   }
 
   // Called repeatedly when this Command is scheduled to run
   @Override
   protected void execute() {
+    double shooterSpeed = shooter.getShooterRPM();
+    if (shooterSpeed > 0)
+      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
@@ -55,7 +58,7 @@ public class RunIndexWheelContinuous extends Command {
 
   @Override
   protected boolean isFinished() {
-    return Robot.getOI().toggleIndexWheel.get();
+    return false;
 
   }