From 1fe2a13c268b1f89f7063d0efb3c9caf6fd02a18 Mon Sep 17 00:00:00 2001 From: Rohan Rodrigues Date: Sun, 19 Feb 2017 14:02:23 -0800 Subject: [PATCH] Add code to alternate piston values every second while the index wheel is running continuously --- .../commands/shooter/RunIndexWheelContinuous.java | 12 ++++++++++++ 1 file changed, 12 insertions(+) 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 f958be7..4ba29d0 100644 --- a/src/org/usfirst/frc/team3501/robot/commands/shooter/RunIndexWheelContinuous.java +++ b/src/org/usfirst/frc/team3501/robot/commands/shooter/RunIndexWheelContinuous.java @@ -1,8 +1,10 @@ package org.usfirst.frc.team3501.robot.commands.shooter; +import org.usfirst.frc.team3501.robot.Constants; import org.usfirst.frc.team3501.robot.Robot; import org.usfirst.frc.team3501.robot.subsystems.Shooter; +import edu.wpi.first.wpilibj.Timer; import edu.wpi.first.wpilibj.command.Command; /** @@ -19,6 +21,7 @@ import edu.wpi.first.wpilibj.command.Command; */ public class RunIndexWheelContinuous extends Command { private Shooter shooter = Robot.getShooter(); + private Timer t = new Timer(); /** * See JavaDoc comment in class for details @@ -33,11 +36,20 @@ public class RunIndexWheelContinuous extends Command { // Called just before this Command runs the first time @Override protected void initialize() { + t.reset(); } // Called repeatedly when this Command is scheduled to run @Override protected void execute() { + if (t.get() % 1 == 0) { + if (Shooter.getShooter().getPistonValue() == Constants.Shooter.LOW_GEAR) { + Shooter.getShooter().setHighGear(); + } else { + Shooter.getShooter().setLowGear(); + } + } + double shooterSpeed = shooter.getShooterRPM(); if (shooterSpeed > 0) { shooter.setIndexWheelMotorVal(shooter.DEFAULT_INDEXING_SPEED); -- 2.30.2