+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;
+
+/**
+ * This command reverses the 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 Rohan
+ */
+public class ReverseIndexWheelContinuous extends Command {
+ private Shooter shooter = Robot.getShooter();
+
+ /**
+ * See JavaDoc comment in class for details
+ *
+ * @param motorVal
+ * value range from -1 to 1
+ */
+ public ReverseIndexWheelContinuous() {
+ requires(shooter);
+ }
+
+ // 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() {
+ shooter.setIndexWheelMotorVal(shooter.DEFAULT_INDEXING_SPEED * -1);
+ }
+
+ // 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() {
+ end();
+ }
+
+ @Override
+ protected boolean isFinished() {
+ return false;
+
+ }
+
+}