From 8e45a057a1cc2df58baac85363554ee493ea2041 Mon Sep 17 00:00:00 2001 From: Cindy Zhang Date: Mon, 20 Feb 2017 14:32:59 -0800 Subject: [PATCH] fix indexing piston code --- .../robot/commands/shooter/RunIndexWheelContinuous.java | 5 +---- src/org/usfirst/frc/team3501/robot/subsystems/Shooter.java | 2 +- 2 files changed, 2 insertions(+), 5 deletions(-) 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 4ba29d0..1428387 100644 --- a/src/org/usfirst/frc/team3501/robot/commands/shooter/RunIndexWheelContinuous.java +++ b/src/org/usfirst/frc/team3501/robot/commands/shooter/RunIndexWheelContinuous.java @@ -4,7 +4,6 @@ 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; /** @@ -21,7 +20,6 @@ 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 @@ -36,13 +34,12 @@ 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 (timeSinceInitialized() % 1 == 0) { if (Shooter.getShooter().getPistonValue() == Constants.Shooter.LOW_GEAR) { Shooter.getShooter().setHighGear(); } else { diff --git a/src/org/usfirst/frc/team3501/robot/subsystems/Shooter.java b/src/org/usfirst/frc/team3501/robot/subsystems/Shooter.java index f457ba5..adca18f 100644 --- a/src/org/usfirst/frc/team3501/robot/subsystems/Shooter.java +++ b/src/org/usfirst/frc/team3501/robot/subsystems/Shooter.java @@ -31,7 +31,7 @@ public class Shooter extends Subsystem { hallEffect = new HallEffectSensor(Constants.Shooter.HALL_EFFECT_PORT, 1); - piston = new DoubleSolenoid(Constants.DriveTrain.MODULE_NUMBER, + piston = new DoubleSolenoid(Constants.Shooter.MODULE_NUMBER, Constants.Shooter.PISTON_FORWARD, Constants.Shooter.PISTON_REVERSE); } -- 2.30.2