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=cd3b1d4f4fbd1f409e2ed38668442291f3f8c6c5;hb=cb8e86cb498c12dcf4e2b7a5916fc6f4926b77cf;hpb=05a85c826dc9e393184e275264b70caef5b7676a

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 cd3b1d4..9594013 100644
--- a/src/org/usfirst/frc/team3501/robot/commands/shooter/RunIndexWheelContinuous.java
+++ b/src/org/usfirst/frc/team3501/robot/commands/shooter/RunIndexWheelContinuous.java
@@ -1,40 +1,67 @@
 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;
 
 /**
- * Runs index wheel continuously until ________
+ * This command runs index wheel continuously when OI button managing index
+ * wheel is pressed. The command will run the index wheel motor until the button
+ * triggering it is released.
+ *
+ * Should only be run from the operator interface.
+ *
+ * pre-condition: This command must be run by a button in OI with
+ * button.whileHeld(...).
+ *
+ * @author Shaina
  */
 public class RunIndexWheelContinuous extends Command {
-	public RunIndexWheelContinuous() {
-
-	}
-
-	// Called just before this Command runs the first time
-	@Override
-	protected void initialize() {
-	}
-
-	// Called repeatedly when this Command is scheduled to run
-	@Override
-	protected void execute() {
-	}
-
-	// Called once after isFinished returns true
-	@Override
-	protected void end() {
-	}
-
-	// Called when another command which requires one or more of the same
-	// subsystems is scheduled to run
-	@Override
-	protected void interrupted() {
-	}
-
-	@Override
-	protected boolean isFinished() {
-		// TODO Auto-generated method stub
-		return false;
-	}
+  private Shooter shooter = Robot.getShooter();
+
+  /**
+   * See JavaDoc comment in class for details
+   */
+  public RunIndexWheelContinuous() {
+    requires(shooter);
+  }
+
+  @Override
+  protected void initialize() {
+  }
+
+  @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();
+  }
+
+  @Override
+  protected void end() {
+    shooter.stopIndexWheel();
+  }
+
+  @Override
+  protected void interrupted() {
+    end();
+  }
+
+  @Override
+  protected boolean isFinished() {
+    return false;
+  }
 
 }