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=2a5ccbede9710e1e9ce2a3c711afb5dff2517c67;hb=cb8e86cb498c12dcf4e2b7a5916fc6f4926b77cf;hpb=d175e83e2bd58c3c0956ca1c28a88ccd5046f656

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 2a5ccbe..9594013 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 +1,8 @@
 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;
 
 import edu.wpi.first.wpilibj.command.Command;
 
@@ -17,36 +19,41 @@ import edu.wpi.first.wpilibj.command.Command;
  * @author Shaina
  */
 public class RunIndexWheelContinuous extends Command {
-  private double motorVal;
+  private Shooter shooter = Robot.getShooter();
 
   /**
    * See JavaDoc comment in class for details
-   *
-   * @param motorVal
-   *          value range from -1 to 1
    */
-  public RunIndexWheelContinuous(double motorVal) {
-    this.motorVal = motorVal;
+  public RunIndexWheelContinuous() {
+    requires(shooter);
   }
 
-  // Called just before this Command runs the first time
   @Override
   protected void initialize() {
-    Robot.getShooter().setIndexWheelMotorVal(motorVal);
   }
 
-  // Called repeatedly when this Command is scheduled to run
   @Override
   protected void execute() {
+    if (timeSinceInitialized() % 0.5 <= 0.02) {
+      if (Shooter.getShooter().getPistonValue() == Constants.Shooter.LOW_GEAR) {
+        Shooter.getShooter().setHighGear();
+      } else {
+        Shooter.getShooter().setLowGear();
+      }
+    }
+
+    double shooterSpeed = shooter.getShooterRPM();
+    double targetShooterSpeed = shooter.getTargetShootingSpeed();
+    double threshold = shooter.getRPMThreshold();
+    if (Math.abs(shooterSpeed - targetShooterSpeed) <= threshold)
+      shooter.runIndexWheel();
   }
 
-  // Called once after isFinished returns true
   @Override
   protected void end() {
+    shooter.stopIndexWheel();
   }
 
-  // Called when another command which requires one or more of the same
-  // subsystems is scheduled to run
   @Override
   protected void interrupted() {
     end();