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;
* @author Shaina
*/
public class RunIndexWheelContinuous extends Command {
- private double motorVal;
+ private Shooter shooter = Robot.getShooter();
/**
* See JavaDoc comment in class for details
* @param motorVal
* value range from -1 to 1
*/
- public RunIndexWheelContinuous(double motorVal) {
- this.motorVal = motorVal;
+ public RunIndexWheelContinuous() {
+ requires(shooter);
}
// 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
@Override
protected void execute() {
+ double shooterSpeed = shooter.getShooterRPM();
+ if (shooterSpeed > 0) {
+ shooter.setIndexWheelMotorVal(shooter.DEFAULT_INDEXING_SPEED);
+ }
}
// Called once after isFinished returns true
@Override
protected void end() {
+ shooter.stopIndexWheel();
}
// Called when another command which requires one or more of the same
@Override
protected boolean isFinished() {
- return Robot.getOI().toggleIndexWheel.get();
+ return false;
+
}
}