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;
/**
- * 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 Shooter shooter = Robot.getShooter();
+ /**
+ * See JavaDoc comment in class for details
+ *
+ * @param motorVal
+ * value range from -1 to 1
+ */
+ public RunIndexWheelContinuous() {
+ requires(shooter);
}
// Called just before this Command runs the first time
// 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
// subsystems is scheduled to run
@Override
protected void interrupted() {
+ end();
}
@Override
protected boolean isFinished() {
return false;
+
}
}