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fix run shooter commands
author
Cindy Zhang
<cindyzyx9@gmail.com>
Sat, 18 Feb 2017 19:43:49 +0000
(11:43 -0800)
committer
Cindy Zhang
<cindyzyx9@gmail.com>
Sat, 18 Feb 2017 19:43:49 +0000
(11:43 -0800)
src/org/usfirst/frc/team3501/robot/commands/shooter/RunFlyWheelContinuous.java
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src/org/usfirst/frc/team3501/robot/commands/shooter/RunIndexWheelContinuous.java
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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 6ac5d774bcf0f50893ef014e09c5a74f19bcdfee..2ae906c7be9753d2ba15de5b2994ccf765273a06 100644
(file)
--- a/
src/org/usfirst/frc/team3501/robot/commands/shooter/RunFlyWheelContinuous.java
+++ b/
src/org/usfirst/frc/team3501/robot/commands/shooter/RunFlyWheelContinuous.java
@@
-28,9
+28,6
@@
public class RunFlyWheelContinuous extends Command {
private double target;
public RunFlyWheelContinuous() {
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.wheelP = this.shooter.wheelP;
this.wheelI = this.shooter.wheelI;
this.wheelD = this.shooter.wheelD;
@@
-42,37
+39,33
@@
public class RunFlyWheelContinuous extends Command {
this.target = this.shooter.CURRENT_SHOOTING_SPEED;
}
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);
}
@Override
protected void initialize() {
this.wheelController.setSetPoint(this.target);
}
- // Called repeatedly when this Command is scheduled to run
@Override
protected void execute() {
@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;
}
@Override
protected boolean isFinished() {
return false;
}
- // Called once after isFinished returns true
@Override
protected void end() {
this.shooter.stopFlyWheel();
}
@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() {
@Override
protected void interrupted() {
-
+ end();
}
}
}
}
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 adcd1a618df4b8f614824574952871d7c75f455b..cb56bf42f4e2b1b53cbbaf35a0e3c15bd8c29293 100644
(file)
--- a/
src/org/usfirst/frc/team3501/robot/commands/shooter/RunIndexWheelContinuous.java
+++ b/
src/org/usfirst/frc/team3501/robot/commands/shooter/RunIndexWheelContinuous.java
@@
-44,6
+44,7
@@
public class RunIndexWheelContinuous extends Command {
// Called once after isFinished returns true
@Override
protected void end() {
// Called once after isFinished returns true
@Override
protected void end() {
+ 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