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;h=95940130f11aac8c50ebc54dc29af5d2d13dcf76;hp=08ead3ac4bb6b52dfb8fd9cc974fd9d80d85724f;hb=cb8e86cb498c12dcf4e2b7a5916fc6f4926b77cf;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..9594013 100644
--- a/src/org/usfirst/frc/team3501/robot/commands/shooter/RunIndexWheelContinuous.java
+++ b/src/org/usfirst/frc/team3501/robot/commands/shooter/RunIndexWheelContinuous.java
@@ -34,23 +34,19 @@ public class RunIndexWheelContinuous extends Command {
 
   @Override
   protected void execute() {
-    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();
+      if (Shooter.getShooter().getPistonValue() == Constants.Shooter.LOW_GEAR) {
+        Shooter.getShooter().setHighGear();
       } else {
-        System.out.println("shifting to high gear " + timeSinceInitialized());
-        Robot.getDriveTrain().setLowGear();
+        Shooter.getShooter().setLowGear();
       }
     }
-    shooter.runIndexWheel();
+
+    double shooterSpeed = shooter.getShooterRPM();
+    double targetShooterSpeed = shooter.getTargetShootingSpeed();
+    double threshold = shooter.getRPMThreshold();
+    if (Math.abs(shooterSpeed - targetShooterSpeed) <= threshold)
+      shooter.runIndexWheel();
   }
 
   @Override
@@ -66,7 +62,6 @@ public class RunIndexWheelContinuous extends Command {
   @Override
   protected boolean isFinished() {
     return false;
-
   }
 
 }