From: Cindy Zhang <cindyzyx9@gmail.com>
Date: Mon, 20 Feb 2017 19:00:10 +0000 (-0800)
Subject: fix shooter commands
X-Git-Url: http://challenge-bot.com/repos/?p=3501%2F2017steamworks;a=commitdiff_plain;h=e32379867a61eb104544b90d917b7ab48d704e25

fix shooter commands
---

diff --git a/src/org/usfirst/frc/team3501/robot/commands/shooter/ReverseIndexWheelContinuous.java b/src/org/usfirst/frc/team3501/robot/commands/shooter/ReverseIndexWheelContinuous.java
index 79a0f23..05ab564 100644
--- a/src/org/usfirst/frc/team3501/robot/commands/shooter/ReverseIndexWheelContinuous.java
+++ b/src/org/usfirst/frc/team3501/robot/commands/shooter/ReverseIndexWheelContinuous.java
@@ -44,6 +44,7 @@ public class ReverseIndexWheelContinuous extends Command {
   // Called once after isFinished returns true
   @Override
   protected void end() {
+    shooter.stopIndexWheel();
   }
 
   // Called when another command which requires one or more of the same
diff --git a/src/org/usfirst/frc/team3501/robot/commands/shooter/RunFlyWheelContinuous.java b/src/org/usfirst/frc/team3501/robot/commands/shooter/RunFlyWheelContinuous.java
index ff4f659..047fad4 100644
--- a/src/org/usfirst/frc/team3501/robot/commands/shooter/RunFlyWheelContinuous.java
+++ b/src/org/usfirst/frc/team3501/robot/commands/shooter/RunFlyWheelContinuous.java
@@ -26,6 +26,7 @@ public class RunFlyWheelContinuous extends Command {
   private double wheelI;
   private double wheelD;
   private double target;
+  double shooterSpeed = 0;
 
   public RunFlyWheelContinuous() {
     this.wheelP = this.shooter.wheelP;
@@ -33,10 +34,10 @@ public class RunFlyWheelContinuous extends Command {
     this.wheelD = this.shooter.wheelD;
     this.wheelController = new PIDController(this.wheelP, this.wheelI,
         this.wheelD);
-    this.wheelController.setDoneRange(0.5);
+    this.wheelController.setDoneRange(10);
     this.wheelController.setMaxOutput(1.0);
     this.wheelController.setMinDoneCycles(3);
-    this.target = this.shooter.getCurrentShootingSpeed();
+    this.target = 2700;
   }
 
   @Override
@@ -46,12 +47,14 @@ public class RunFlyWheelContinuous extends Command {
 
   @Override
   protected void execute() {
-    // double shooterSpeed = this.wheelController
-    // .calcPID(this.shooter.getShooterRPM());
-    //
-    // this.shooter.setFlyWheelMotorVal(shooterSpeed);
-    System.out.println(shooter.getShooterRPM());
-    this.shooter.setFlyWheelMotorVal(this.shooter.CURRENT_SHOOTING_SPEED);
+    double calculatedShooterIncrement = this.wheelController
+        .calcPID(this.shooter.getShooterRPM());
+    shooterSpeed += calculatedShooterIncrement;
+    if (shooterSpeed > 1.0)
+      this.shooter.setFlyWheelMotorVal(1.0);
+    else
+      this.shooter.setFlyWheelMotorVal(shooterSpeed);
+    // this.shooter.setFlyWheelMotorVal(this.shooter.CURRENT_SHOOTING_SPEED);
   }
 
   @Override