From: Nadia Anees <n.anees655@gmail.com>
Date: Sat, 11 Feb 2017 03:28:40 +0000 (-0800)
Subject: Only run indexwheel if flywheel is running
X-Git-Url: http://challenge-bot.com/repos/?p=3501%2F2017steamworks;a=commitdiff_plain;h=d7042bec1cddc809132fcc233ba3320b0b6681d9;hp=0a4e4ffd519bb48e18bfce81f97b945ab31a7a9a

Only run indexwheel if flywheel is running
---

diff --git a/src/org/usfirst/frc/team3501/robot/commands/shooter/RunIndexWheel.java b/src/org/usfirst/frc/team3501/robot/commands/shooter/RunIndexWheel.java
index 6838354..3f8baa0 100644
--- a/src/org/usfirst/frc/team3501/robot/commands/shooter/RunIndexWheel.java
+++ b/src/org/usfirst/frc/team3501/robot/commands/shooter/RunIndexWheel.java
@@ -38,7 +38,10 @@ public class RunIndexWheel extends Command {
   // Called repeatedly when this Command is scheduled to run
   @Override
   protected void execute() {
-    shooter.setIndexWheelMotorVal(shooter.DEFAULT_INDEXING_SPEED);
+    double shooterSpeed = shooter.getShooterRPM();
+    if (shooterSpeed > 0) {
+      shooter.setIndexWheelMotorVal(shooter.DEFAULT_INDEXING_SPEED);
+    }
   }
 
   // Called once after isFinished returns true
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 cb56bf4..f958be7 100644
--- a/src/org/usfirst/frc/team3501/robot/commands/shooter/RunIndexWheelContinuous.java
+++ b/src/org/usfirst/frc/team3501/robot/commands/shooter/RunIndexWheelContinuous.java
@@ -38,7 +38,10 @@ public class RunIndexWheelContinuous extends Command {
   // Called repeatedly when this Command is scheduled to run
   @Override
   protected void execute() {
-    shooter.setIndexWheelMotorVal(shooter.DEFAULT_INDEXING_SPEED);
+    double shooterSpeed = shooter.getShooterRPM();
+    if (shooterSpeed > 0) {
+      shooter.setIndexWheelMotorVal(shooter.DEFAULT_INDEXING_SPEED);
+    }
   }
 
   // Called once after isFinished returns true