From: Rohan Rodrigues <rohanrodrigues19@gmail.com>
Date: Wed, 8 Feb 2017 00:43:18 +0000 (-0800)
Subject: Add Java class ReverseIndexWheelContinuous
X-Git-Url: http://challenge-bot.com/repos/?p=3501%2F2017steamworks;a=commitdiff_plain;h=5c1a9af18efcd2cea4d52d361421e6b9b90ac7f7

Add Java class ReverseIndexWheelContinuous
---

diff --git a/src/org/usfirst/frc/team3501/robot/commands/shooter/ReverseIndexWheelContinuous.java b/src/org/usfirst/frc/team3501/robot/commands/shooter/ReverseIndexWheelContinuous.java
new file mode 100644
index 0000000..79a0f23
--- /dev/null
+++ b/src/org/usfirst/frc/team3501/robot/commands/shooter/ReverseIndexWheelContinuous.java
@@ -0,0 +1,62 @@
+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;
+
+  }
+
+}