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move setmotorvalues to execute and set wheels to constant speeds
author
Cindy Zhang
<cindyzyx9@gmail.com>
Sat, 4 Feb 2017 19:01:04 +0000
(11:01 -0800)
committer
Cindy Zhang
<cindyzyx9@gmail.com>
Sat, 4 Feb 2017 19:02:25 +0000
(11:02 -0800)
src/org/usfirst/frc/team3501/robot/commands/shooter/RunFlyWheel.java
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src/org/usfirst/frc/team3501/robot/commands/shooter/RunFlyWheelContinuous.java
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src/org/usfirst/frc/team3501/robot/commands/shooter/RunIndexWheel.java
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src/org/usfirst/frc/team3501/robot/commands/shooter/RunIndexWheelContinuous.java
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src/org/usfirst/frc/team3501/robot/subsystems/Shooter.java
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diff --git
a/src/org/usfirst/frc/team3501/robot/commands/shooter/RunFlyWheel.java
b/src/org/usfirst/frc/team3501/robot/commands/shooter/RunFlyWheel.java
index 78506882140bd14c817d8f05014baa11018afb30..6ac5d69f3e1934c557adde63add9c5a72d4c5982 100644
(file)
--- a/
src/org/usfirst/frc/team3501/robot/commands/shooter/RunFlyWheel.java
+++ b/
src/org/usfirst/frc/team3501/robot/commands/shooter/RunFlyWheel.java
@@
-3,7
+3,6
@@
package org.usfirst.frc.team3501.robot.commands.shooter;
import org.usfirst.frc.team3501.robot.Robot;
import org.usfirst.frc.team3501.robot.subsystems.Shooter;
import org.usfirst.frc.team3501.robot.Robot;
import org.usfirst.frc.team3501.robot.subsystems.Shooter;
-import edu.wpi.first.wpilibj.Timer;
import edu.wpi.first.wpilibj.command.Command;
/**
import edu.wpi.first.wpilibj.command.Command;
/**
@@
-14,7
+13,6
@@
import edu.wpi.first.wpilibj.command.Command;
*/
public class RunFlyWheel extends Command {
private Shooter shooter = Robot.getShooter();
*/
public class RunFlyWheel extends Command {
private Shooter shooter = Robot.getShooter();
- Timer timer;
private double time;
/**
private double time;
/**
@@
-27,21
+25,18
@@
public class RunFlyWheel extends Command {
*/
public RunFlyWheel(double time) {
requires(shooter);
*/
public RunFlyWheel(double time) {
requires(shooter);
-
- timer = new Timer();
this.time = time;
}
// Called just before this Command runs the first time
@Override
protected void initialize() {
this.time = time;
}
// Called just before this Command runs the first time
@Override
protected void initialize() {
- timer.start();
- shooter.setFlyWheelMotorVal(shooter.CURRENT_SHOOTING_SPEED);
}
// Called repeatedly when this Command is scheduled to run
@Override
protected void execute() {
}
// Called repeatedly when this Command is scheduled to run
@Override
protected void execute() {
+ shooter.setFlyWheelMotorVal(shooter.CURRENT_SHOOTING_SPEED);
}
// Called once after isFinished returns true
}
// Called once after isFinished returns true
@@
-59,7
+54,7
@@
public class RunFlyWheel extends Command {
@Override
protected boolean isFinished() {
@Override
protected boolean isFinished() {
- return time
r.get
() >= time;
+ return time
SinceInitialized
() >= time;
}
}
}
}
diff --git
a/src/org/usfirst/frc/team3501/robot/commands/shooter/RunFlyWheelContinuous.java
b/src/org/usfirst/frc/team3501/robot/commands/shooter/RunFlyWheelContinuous.java
index cc07893019111c9e88f0115784de98d079981862..af77483c85939ffa7205610078a4ee2630275805 100644
(file)
--- a/
src/org/usfirst/frc/team3501/robot/commands/shooter/RunFlyWheelContinuous.java
+++ b/
src/org/usfirst/frc/team3501/robot/commands/shooter/RunFlyWheelContinuous.java
@@
-1,6
+1,7
@@
package org.usfirst.frc.team3501.robot.commands.shooter;
import org.usfirst.frc.team3501.robot.Robot;
package org.usfirst.frc.team3501.robot.commands.shooter;
import org.usfirst.frc.team3501.robot.Robot;
+import org.usfirst.frc.team3501.robot.subsystems.Shooter;
import edu.wpi.first.wpilibj.command.Command;
import edu.wpi.first.wpilibj.command.Command;
@@
-17,7
+18,7
@@
import edu.wpi.first.wpilibj.command.Command;
* @author Shaina
*/
public class RunFlyWheelContinuous extends Command {
* @author Shaina
*/
public class RunFlyWheelContinuous extends Command {
- private
double motorVal
;
+ private
Shooter shooter = Robot.getShooter()
;
/**
* See JavaDoc comment in class for details
/**
* See JavaDoc comment in class for details
@@
-25,19
+26,19
@@
public class RunFlyWheelContinuous extends Command {
* @param motorVal
* value range from -1 to 1
*/
* @param motorVal
* value range from -1 to 1
*/
- public RunFlyWheelContinuous(
double motorVal
) {
-
this.motorVal = motorVal
;
+ public RunFlyWheelContinuous() {
+
requires(shooter)
;
}
// Called just before this Command runs the first time
@Override
protected void initialize() {
}
// Called just before this Command runs the first time
@Override
protected void initialize() {
- Robot.getShooter().setFlyWheelMotorVal(motorVal);
}
// Called repeatedly when this Command is scheduled to run
@Override
protected void execute() {
}
// Called repeatedly when this Command is scheduled to run
@Override
protected void execute() {
+ shooter.setFlyWheelMotorVal(shooter.CURRENT_SHOOTING_SPEED);
}
// Called once after isFinished returns true
}
// Called once after isFinished returns true
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 4c8cd54d102573329a4ee36dc4ca10288249ff20..68383544bf95779ff7b7b79f887703b9a8942a83 100644
(file)
--- a/
src/org/usfirst/frc/team3501/robot/commands/shooter/RunIndexWheel.java
+++ b/
src/org/usfirst/frc/team3501/robot/commands/shooter/RunIndexWheel.java
@@
-1,8
+1,8
@@
package org.usfirst.frc.team3501.robot.commands.shooter;
import org.usfirst.frc.team3501.robot.Robot;
package org.usfirst.frc.team3501.robot.commands.shooter;
import org.usfirst.frc.team3501.robot.Robot;
+import org.usfirst.frc.team3501.robot.subsystems.Shooter;
-import edu.wpi.first.wpilibj.Timer;
import edu.wpi.first.wpilibj.command.Command;
/**
import edu.wpi.first.wpilibj.command.Command;
/**
@@
-14,9
+14,8
@@
import edu.wpi.first.wpilibj.command.Command;
* @author Shaina
*/
public class RunIndexWheel extends Command {
* @author Shaina
*/
public class RunIndexWheel extends Command {
-
Timer timer
;
+
private Shooter shooter = Robot.getShooter()
;
private double time;
private double time;
- private double motorVal;
/**
* See JavaDoc comment in class for details
/**
* See JavaDoc comment in class for details
@@
-26,30
+25,26
@@
public class RunIndexWheel extends Command {
* @param time
* in seconds, amount of time to run index wheel motor
*/
* @param time
* in seconds, amount of time to run index wheel motor
*/
- public RunIndexWheel(double motorVal, double time) {
- requires(Robot.getShooter());
-
- timer = new Timer();
- this.motorVal = motorVal;
+ public RunIndexWheel(double time) {
+ requires(shooter);
this.time = time;
}
// Called just before this Command runs the first time
@Override
protected void initialize() {
this.time = time;
}
// Called just before this Command runs the first time
@Override
protected void initialize() {
- timer.start();
- Robot.getShooter().setIndexWheelMotorVal(motorVal);
}
// Called repeatedly when this Command is scheduled to run
@Override
protected void execute() {
}
// Called repeatedly when this Command is scheduled to run
@Override
protected void execute() {
+ shooter.setIndexWheelMotorVal(shooter.DEFAULT_INDEXING_SPEED);
}
// Called once after isFinished returns true
@Override
protected void end() {
}
// Called once after isFinished returns true
@Override
protected void end() {
-
Robot.getShooter()
.stopIndexWheel();
+
shooter
.stopIndexWheel();
}
// Called when another command which requires one or more of the same
}
// Called when another command which requires one or more of the same
@@
-61,7
+56,7
@@
public class RunIndexWheel extends Command {
@Override
protected boolean isFinished() {
@Override
protected boolean isFinished() {
- return time
r.get
() >= time;
+ return time
SinceInitialized
() >= time;
}
}
}
}
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 1bf1c6f0c4941cba314eeff63030e066f345e557..bf9af68ad85b3c0617672edba540c37aeb7d2989 100644
(file)
--- a/
src/org/usfirst/frc/team3501/robot/commands/shooter/RunIndexWheelContinuous.java
+++ b/
src/org/usfirst/frc/team3501/robot/commands/shooter/RunIndexWheelContinuous.java
@@
-27,18
+27,18
@@
public class RunIndexWheelContinuous extends Command {
* value range from -1 to 1
*/
public RunIndexWheelContinuous() {
* value range from -1 to 1
*/
public RunIndexWheelContinuous() {
-
+ requires(shooter);
}
// Called just before this Command runs the first time
@Override
protected void initialize() {
}
// Called just before this Command runs the first time
@Override
protected void initialize() {
- shooter.setIndexWheelMotorVal(shooter.CURRENT_SHOOTING_SPEED);
}
// Called repeatedly when this Command is scheduled to run
@Override
protected void execute() {
}
// Called repeatedly when this Command is scheduled to run
@Override
protected void execute() {
+ shooter.setIndexWheelMotorVal(shooter.DEFAULT_INDEXING_SPEED);
}
// Called once after isFinished returns true
}
// Called once after isFinished returns true
diff --git
a/src/org/usfirst/frc/team3501/robot/subsystems/Shooter.java
b/src/org/usfirst/frc/team3501/robot/subsystems/Shooter.java
index 73c1b23282356686b7475b9ba8b21692c0753504..ba0f51cefbf86e775efeb159feab757f2439eb78 100644
(file)
--- a/
src/org/usfirst/frc/team3501/robot/subsystems/Shooter.java
+++ b/
src/org/usfirst/frc/team3501/robot/subsystems/Shooter.java
@@
-10,6
+10,7
@@
public class Shooter extends Subsystem {
private static Shooter shooter;
private final CANTalon flyWheel, indexWheel;
private static Shooter shooter;
private final CANTalon flyWheel, indexWheel;
+ public static final double DEFAULT_INDEXING_SPEED = 0;
public static final double DEFAULT_SHOOTING_SPEED = 0;
public static double CURRENT_SHOOTING_SPEED;
public static final double DEFAULT_SHOOTING_SPEED = 0;
public static double CURRENT_SHOOTING_SPEED;