modify RunFlyWheel and RunFlyWheelContinuous commands

[3501/2017steamworks] / src / org / usfirst / frc / team3501 / robot / commands / shooter / StartUpFlyWheel.java

diff --git a/src/org/usfirst/frc/team3501/robot/commands/shooter/StartUpFlyWheel.java b/src/org/usfirst/frc/team3501/robot/commands/shooter/StartUpFlyWheel.java
deleted file mode 100644 (file)
index 414641b..0000000
--- a/src/org/usfirst/frc/team3501/robot/commands/shooter/StartUpFlyWheel.java
+++ /dev/null
@@ -1,72 +0,0 @@
-package org.usfirst.frc.team3501.robot.commands.shooter;
-
-import org.usfirst.frc.team3501.robot.Robot;
-import org.usfirst.frc.team3501.robot.subsystems.Shooter;
-import org.usfirst.frc.team3501.robot.utils.PIDController;
-
-import edu.wpi.first.wpilibj.command.Command;
-
-/**
- *
- */
-public class StartUpFlyWheel extends Command {
-  private Shooter shooter = Robot.getShooter();
-  private double maxTimeOut;
-
-  private PIDController wheelController;
-  private double wheelP;
-  private double wheelI;
-  private double wheelD;
-  private double motorVal;
-  private double target;
-
-  public StartUpFlyWheel(double speed, double maxTimeOut) {
-    // Use requires() here to declare subsystem dependencies
-    // eg. requires(chassis);
-    requires(shooter);
-
-    this.wheelP = this.shooter.wheelP;
-    this.wheelI = this.shooter.wheelI;
-    this.wheelD = this.shooter.wheelD;
-    this.wheelController = new PIDController(this.wheelP, this.wheelI,
-        this.wheelD);
-    this.wheelController.setDoneRange(0.5);
-    this.wheelController.setMaxOutput(1.0);
-    this.wheelController.setMinDoneCycles(3);
-    this.target = speed;
-  }
-
-  // Called just before this Command runs the first time
-  protected void initialize() {
-    this.wheelController.setSetPoint(this.target);
-  }
-
-  // Called repeatedly when this Command is scheduled to run
-  protected void execute() {
-    double shooterSpeed = this.wheelController
-        .calcPID(this.shooter.getShooterSpeed());
-
-    this.shooter.setFlyWheelMotorVal(shooterSpeed);
-  }
-
-  // Make this return true when this Command no longer needs to run execute()
-  protected boolean isFinished() {
-    boolean isDone = this.wheelController.isDone();
-    if (timeSinceInitialized() >= maxTimeOut || isDone) {
-      System.out.println("time: " + timeSinceInitialized());
-      return true;
-    }
-    return false;
-  }
-
-  // Called once after isFinished returns true
-  protected void end() {
-    this.shooter.stopFlyWheel();
-  }
-
-  // Called when another command which requires one or more of the same
-  // subsystems is scheduled to run
-  protected void interrupted() {
-    end();
-  }
-}