private double target;
public RunFlyWheelContinuous() {
- // Use requires() here to declare subsystem dependencies
- // eg. requires(chassis);
-
this.wheelP = this.shooter.wheelP;
this.wheelI = this.shooter.wheelI;
this.wheelD = this.shooter.wheelD;
this.target = this.shooter.CURRENT_SHOOTING_SPEED;
}
- // Called just before this Command runs the first time
@Override
protected void initialize() {
this.wheelController.setSetPoint(this.target);
}
- // Called repeatedly when this Command is scheduled to run
@Override
protected void execute() {
- double shooterSpeed = this.wheelController
- .calcPID(this.shooter.getShooterRPM());
-
- this.shooter.setFlyWheelMotorVal(shooterSpeed);
+ // double shooterSpeed = this.wheelController
+ // .calcPID(this.shooter.getShooterRPM());
+ //
+ // this.shooter.setFlyWheelMotorVal(shooterSpeed);
+ System.out.println(shooter.getShooterRPM());
+ this.shooter.setFlyWheelMotorVal(this.shooter.CURRENT_SHOOTING_SPEED);
}
- // Make this return true when this Command no longer needs to run execute()
@Override
protected boolean isFinished() {
return false;
}
- // Called once after isFinished returns true
@Override
protected void end() {
this.shooter.stopFlyWheel();
}
- // Called when another command which requires one or more of the same
- // subsystems is scheduled to run
@Override
protected void interrupted() {
-
+ end();
}
}