X-Git-Url: http://challenge-bot.com/repos/?p=3501%2F2017steamworks;a=blobdiff_plain;f=src%2Forg%2Fusfirst%2Ffrc%2Fteam3501%2Frobot%2Fcommands%2Fshooter%2FRunIndexWheelContinuous.java;fp=src%2Forg%2Fusfirst%2Ffrc%2Fteam3501%2Frobot%2Fcommands%2Fshooter%2FRunIndexWheelContinuous.java;h=d2d386ab040422c72ac3a7863dcc7d8262022f67;hp=08ead3ac4bb6b52dfb8fd9cc974fd9d80d85724f;hb=b70398a7d5ac5f4ce64156d84227ccb4828c0615;hpb=7ba6bc91b8cf7205e05cdb974dc80fdd668ebe59

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 08ead3a..d2d386a 100644
--- a/src/org/usfirst/frc/team3501/robot/commands/shooter/RunIndexWheelContinuous.java
+++ b/src/org/usfirst/frc/team3501/robot/commands/shooter/RunIndexWheelContinuous.java
@@ -1,6 +1,5 @@
 package org.usfirst.frc.team3501.robot.commands.shooter;
 
-import org.usfirst.frc.team3501.robot.Constants;
 import org.usfirst.frc.team3501.robot.Robot;
 import org.usfirst.frc.team3501.robot.subsystems.Shooter;
 
@@ -37,20 +36,8 @@ public class RunIndexWheelContinuous extends Command {
     double shooterSpeed = shooter.getShooterRPM();
     double targetShooterSpeed = shooter.getTargetShootingSpeed();
     double threshold = shooter.getRPMThreshold();
-    // if (Math.abs(shooterSpeed - targetShooterSpeed) <= threshold)
-
-    if (timeSinceInitialized() % 0.5 <= 0.02) {
-
-      if (Robot.getDriveTrain()
-          .getLeftGearPistonValue() == Constants.DriveTrain.LOW_GEAR) {
-        System.out.println("shifting to low gear " + timeSinceInitialized());
-        Robot.getDriveTrain().setHighGear();
-      } else {
-        System.out.println("shifting to high gear " + timeSinceInitialized());
-        Robot.getDriveTrain().setLowGear();
-      }
-    }
-    shooter.runIndexWheel();
+    if (Math.abs(shooterSpeed - targetShooterSpeed) <= threshold)
+      shooter.runIndexWheel();
   }
 
   @Override