X-Git-Url: http://challenge-bot.com/repos/?p=3501%2F2017steamworks;a=blobdiff_plain;f=src%2Forg%2Fusfirst%2Ffrc%2Fteam3501%2Frobot%2Fcommands%2Fshooter%2FRunIndexWheel.java;h=6abb095b60a0a5ac74de61627244f479ae2248f6;hp=d9966f1171494ace578ccc72ae081a5bbed46c10;hb=7ba6bc91b8cf7205e05cdb974dc80fdd668ebe59;hpb=f625e57a09b295f7d40e4568a8e3a8cd125630aa

diff --git a/src/org/usfirst/frc/team3501/robot/commands/shooter/RunIndexWheel.java b/src/org/usfirst/frc/team3501/robot/commands/shooter/RunIndexWheel.java
index d9966f1..6abb095 100644
--- a/src/org/usfirst/frc/team3501/robot/commands/shooter/RunIndexWheel.java
+++ b/src/org/usfirst/frc/team3501/robot/commands/shooter/RunIndexWheel.java
@@ -39,7 +39,9 @@ public class RunIndexWheel extends Command {
   @Override
   protected void execute() {
     double shooterSpeed = shooter.getShooterRPM();
-    if (shooterSpeed > 0)
+    double targetShooterSpeed = shooter.getTargetShootingSpeed();
+    double threshold = shooter.getRPMThreshold();
+    if (Math.abs(shooterSpeed - targetShooterSpeed) <= threshold)
       shooter.runIndexWheel();
   }