Only run indexwheel if flywheel is running

[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 cb56bf42f4e2b1b53cbbaf35a0e3c15bd8c29293..f958be7fa4788e067e93b225680d56045e08c532 100644 (file)
--- a/src/org/usfirst/frc/team3501/robot/commands/shooter/RunIndexWheelContinuous.java
+++ b/src/org/usfirst/frc/team3501/robot/commands/shooter/RunIndexWheelContinuous.java
@@ -38,7 +38,10 @@ 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.setIndexWheelMotorVal(shooter.DEFAULT_INDEXING_SPEED);
+    }
   }
 
   // Called once after isFinished returns true