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 adcd1a618df4b8f614824574952871d7c75f455b..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
@@ -38,12 +38,15 @@ public class RunIndexWheelContinuous extends Command {
   // Called repeatedly when this Command is scheduled to run
   @Override
   protected void execute() {
-    shooter.setIndexWheelMotorVal(shooter.DEFAULT_INDEXING_SPEED);
+    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