Finalize Shooter and RunIndexWheelContinuous

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 e86f3ee03f5ec364538de5d033bd2d3ab1057362..2004c1d506438e2979a3f334f1efa5da251bd908 100644 (file)
--- a/src/org/usfirst/frc/team3501/robot/commands/shooter/RunIndexWheelContinuous.java
+++ b/src/org/usfirst/frc/team3501/robot/commands/shooter/RunIndexWheelContinuous.java
@@ -51,8 +51,7 @@ public class RunIndexWheelContinuous extends Command {
       t.reset();
     }
 
-    double shooterSpeed = shooter.getShooterRPM();
-    if (shooterSpeed > 0)
+    if (shooter.isShooterRPMWithinRangeOfTargetSpeed(25))
       shooter.runIndexWheel();
   }
 

diff --git a/src/org/usfirst/frc/team3501/robot/subsystems/Shooter.java b/src/org/usfirst/frc/team3501/robot/subsystems/Shooter.java
index e526dac106a4652dd1b2cc02d29a562febc9a72d..75737a6f0ce2ebf828a96c48647c158ec7729e10 100644 (file)
--- a/src/org/usfirst/frc/team3501/robot/subsystems/Shooter.java
+++ b/src/org/usfirst/frc/team3501/robot/subsystems/Shooter.java
@@ -19,6 +19,7 @@ public class Shooter extends Subsystem {
   private static final double DEFAULT_INDEXING_SPEED = -0.75;
   private static final double DEFAULT_SHOOTING_SPEED = 2800; // rpm
   private static final double SHOOTING_SPEED_INCREMENT = 25;
+  private static final int ACCEPTABLE_SHOOTING_DEVIATION = 300;
 
   private double currentShootingSpeed = DEFAULT_SHOOTING_SPEED;
 
@@ -137,4 +138,17 @@ public class Shooter extends Subsystem {
   private void changeGear(DoubleSolenoid.Value gear) {
     piston.set(gear);
   }
+
+  public boolean isShooterRPMAtTargetSpeed() {
+    return isShooterRPMWithinRangeOfTargetSpeed(ACCEPTABLE_SHOOTING_DEVIATION);
+  }
+
+  public boolean isShooterRPMWithinRangeOfTargetSpeed(int acceptableRPMError) {
+    double shooterSpeed = getShooterRPM();
+    if (shooterSpeed > DEFAULT_SHOOTING_SPEED - acceptableRPMError
+        && shooterSpeed < DEFAULT_SHOOTING_SPEED + acceptableRPMError) {
+      return true;
+    }
+    return false;
+  }
 }