From: Shivani Ghanta <shivani.oghanta@gmail.com>
Date: Tue, 31 Jan 2017 05:06:09 +0000 (-0800)
Subject: Implement ReverseIndexWheel
X-Git-Url: http://challenge-bot.com/repos/?p=3501%2F2017steamworks;a=commitdiff_plain;h=21477e1d2cef725ba4a34edd75b77a5e0a898985

Implement ReverseIndexWheel
---

diff --git a/src/org/usfirst/frc/team3501/robot/commands/shooter/ReverseIndexWheel.java b/src/org/usfirst/frc/team3501/robot/commands/shooter/ReverseIndexWheel.java
new file mode 100644
index 0000000..4c74515
--- /dev/null
+++ b/src/org/usfirst/frc/team3501/robot/commands/shooter/ReverseIndexWheel.java
@@ -0,0 +1,63 @@
+package org.usfirst.frc.team3501.robot.commands.shooter;
+
+import org.usfirst.frc.team3501.robot.Robot;
+
+import edu.wpi.first.wpilibj.Timer;
+import edu.wpi.first.wpilibj.command.Command;
+
+/**
+ * This command reverses the index wheel at a given speed for given time in
+ * seconds.
+ *
+ * @author shivanighanta
+ */
+
+public class ReverseIndexWheel extends Command {
+  Timer timer;
+  private double time;
+  private double motorVal;
+
+  /**
+   * See JavaDoc comment in class for details
+   *
+   * @param motorVal
+   *          value range from -1 to 1
+   * @param time
+   *          in seconds, amount of time to run index wheel motor
+   */
+
+  public ReverseIndexWheel(double time, double motorVal) {
+    requires(Robot.getDriveTrain());
+    timer = new Timer();
+    this.time = time;
+    this.motorVal = motorVal;
+  }
+
+  @Override
+  protected void initialize() {
+    timer.start();
+
+  }
+
+  @Override
+  protected void execute() {
+    Robot.getShooter().setIndexWheelMotorVal(-motorVal);
+
+  }
+
+  @Override
+  protected boolean isFinished() {
+    return timer.get() >= time;
+  }
+
+  @Override
+  protected void end() {
+    Robot.getShooter().stopIndexWheel();
+
+  }
+
+  @Override
+  protected void interrupted() {
+    end();
+  }
+}