RiseOfRidgebotics2020/src/main/java/frc4388/robot/commands/ShootShooter.java

/*----------------------------------------------------------------------------*/
/* Copyright (c) 2019 FIRST. All Rights Reserved.                             */
/* Open Source Software - may be modified and shared by FRC teams. The code   */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project.                                                               */
/*----------------------------------------------------------------------------*/

package frc4388.robot.commands;

import edu.wpi.first.wpilibj.command.InstantCommand;
import edu.wpi.first.wpilibj2.command.CommandBase;
import edu.wpi.first.wpilibj2.command.ParallelCommandGroup;
import edu.wpi.first.wpilibj2.command.ParallelRaceGroup;
import edu.wpi.first.wpilibj2.command.RunCommand;
import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
import frc4388.robot.Constants.ShooterConstants;
import frc4388.robot.subsystems.Shooter;
import frc4388.robot.subsystems.Storage;

public class ShootShooter extends CommandBase {
  Shooter m_shooter;
  Storage m_storage;
  private long startTime;
  private int ballNum;
  public boolean velReach = false;
  /**
   * Creates a new ShootAlll.
   */
  public ShootShooter(Shooter shootSub, Storage storeSub, int numBall) {
    ballNum = numBall;
    m_shooter = shootSub;
    m_storage = storeSub;
  }

  // Called when the command is initially scheduled.
  @Override
  public void initialize() {
    //new InstantCommand(() -> m_storage.storageAim());
    velReach = false;
  }

  // Called every time the scheduler runs while the command is scheduled.
  @Override
  public void execute() {

      //Aiming
    if (!m_shooter.velReached && velReach == false) //If the shooter is spooled
    {
      new ShooterVelocityControlPID(m_shooter, m_shooter.addFireVel());
      startTime = System.currentTimeMillis();
    }
    
    else {
      velReach = true;
      new ParallelCommandGroup(
        new ShooterVelocityControlPID(m_shooter, m_shooter.addFireVel()),
        new RunCommand(() -> m_shooter.runAngleAdjustPID(m_shooter.addFireAngle())),
        new RunCommand(() -> m_storage.runStoragePositionPID(m_storage.getEncoderPos() + (2*ballNum)))
      );
    }
  }
  // Called once the command ends or is interrupted.
  @Override
  public void end(boolean interrupted) {
  }

  // Returns true when the command should end.
  @Override
  public boolean isFinished() {
    if (startTime + (1000 * ballNum) < System.currentTimeMillis()){
      return true;
    }
    return false;
  }
}