From 414d5638f3027cc4e42b96eb06ba8de41bde3afe Mon Sep 17 00:00:00 2001
From: shainachen <shaina.sierra@gmail.com>
Date: Sat, 14 Jan 2017 15:15:52 -0800
Subject: [PATCH] Implement RunFLyWheel class, add motor methods to Shooter
 class

---
 src/org/usfirst/frc/team3501/robot/Robot.java       |  5 +++++
 .../robot/commands/shooter/RunFlyWheel.java         | 13 ++++++++++++-
 2 files changed, 17 insertions(+), 1 deletion(-)

diff --git a/src/org/usfirst/frc/team3501/robot/Robot.java b/src/org/usfirst/frc/team3501/robot/Robot.java
index b18f7a5..00ad1cb 100644
--- a/src/org/usfirst/frc/team3501/robot/Robot.java
+++ b/src/org/usfirst/frc/team3501/robot/Robot.java
@@ -9,6 +9,7 @@ import edu.wpi.first.wpilibj.command.Scheduler;
 
 public class Robot extends IterativeRobot {
   private static DriveTrain driveTrain;
+  private static Shooter shooter;
   private static OI oi;
   private static Shooter shooter;
 
@@ -24,6 +25,10 @@ public class Robot extends IterativeRobot {
     return DriveTrain.getDriveTrain();
   }
 
+  public static Shooter getShooter() {
+    return Shooter.getShooter();
+  }
+
   public static OI getOI() {
     return OI.getOI();
   }
diff --git a/src/org/usfirst/frc/team3501/robot/commands/shooter/RunFlyWheel.java b/src/org/usfirst/frc/team3501/robot/commands/shooter/RunFlyWheel.java
index f57cd5b..203f9dc 100644
--- a/src/org/usfirst/frc/team3501/robot/commands/shooter/RunFlyWheel.java
+++ b/src/org/usfirst/frc/team3501/robot/commands/shooter/RunFlyWheel.java
@@ -1,5 +1,8 @@
 package org.usfirst.frc.team3501.robot.commands.shooter;
 
+import org.usfirst.frc.team3501.robot.Robot;
+
+import edu.wpi.first.wpilibj.Timer;
 import edu.wpi.first.wpilibj.command.Command;
 
 /**
@@ -9,6 +12,7 @@ import edu.wpi.first.wpilibj.command.Command;
  * @author Shaina
  */
 public class RunFlyWheel extends Command {
+  Timer timer;
   private double motorVal;
   private double time;
 
@@ -21,6 +25,9 @@ public class RunFlyWheel extends Command {
    *          in seconds, amount of time to run fly wheel motor
    */
   public RunFlyWheel(double motorVal, double time) {
+    requires(Robot.getShooter());
+
+    timer = new Timer();
     this.motorVal = motorVal;
     this.time = time;
   }
@@ -28,6 +35,8 @@ public class RunFlyWheel extends Command {
   // Called just before this Command runs the first time
   @Override
   protected void initialize() {
+    timer.start();
+    Robot.getShooter().setFlyWheelMotorVal(motorVal);
   }
 
   // Called repeatedly when this Command is scheduled to run
@@ -38,17 +47,19 @@ public class RunFlyWheel extends Command {
   // Called once after isFinished returns true
   @Override
   protected void end() {
+    Robot.getShooter().stopFlyWheel();
   }
 
   // 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;
+    return timer.get() >= time;
   }
 
 }
-- 
2.30.2