From 135022bce3be160d803dc6d297f5b9139a7afb31 Mon Sep 17 00:00:00 2001 From: Cindy Zhang Date: Sat, 18 Feb 2017 11:43:49 -0800 Subject: [PATCH] fix run shooter commands --- .../shooter/RunFlyWheelContinuous.java | 21 +++++++------------ .../shooter/RunIndexWheelContinuous.java | 1 + 2 files changed, 8 insertions(+), 14 deletions(-) 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 6ac5d77..2ae906c 100644 --- a/src/org/usfirst/frc/team3501/robot/commands/shooter/RunFlyWheelContinuous.java +++ b/src/org/usfirst/frc/team3501/robot/commands/shooter/RunFlyWheelContinuous.java @@ -28,9 +28,6 @@ public class RunFlyWheelContinuous extends Command { private double target; public RunFlyWheelContinuous() { - // Use requires() here to declare subsystem dependencies - // eg. requires(chassis); - this.wheelP = this.shooter.wheelP; this.wheelI = this.shooter.wheelI; this.wheelD = this.shooter.wheelD; @@ -42,37 +39,33 @@ public class RunFlyWheelContinuous extends Command { this.target = this.shooter.CURRENT_SHOOTING_SPEED; } - // Called just before this Command runs the first time @Override protected void initialize() { this.wheelController.setSetPoint(this.target); } - // Called repeatedly when this Command is scheduled to run @Override protected void execute() { - double shooterSpeed = this.wheelController - .calcPID(this.shooter.getShooterRPM()); - - this.shooter.setFlyWheelMotorVal(shooterSpeed); + // 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); } - // Make this return true when this Command no longer needs to run execute() @Override protected boolean isFinished() { return false; } - // Called once after isFinished returns true @Override protected void end() { this.shooter.stopFlyWheel(); } - // Called when another command which requires one or more of the same - // subsystems is scheduled to run @Override protected void interrupted() { - + end(); } } 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 adcd1a6..cb56bf4 100644 --- a/src/org/usfirst/frc/team3501/robot/commands/shooter/RunIndexWheelContinuous.java +++ b/src/org/usfirst/frc/team3501/robot/commands/shooter/RunIndexWheelContinuous.java @@ -44,6 +44,7 @@ public class RunIndexWheelContinuous 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 -- 2.30.2