RiseOfRidgebotics2020/src/main/java/frc4388/robot/commands/ShooterVelocityControlPID.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.wpilibj2.command.CommandBase;
import frc4388.robot.subsystems.Shooter;

public class ShooterVelocityControlPID extends CommandBase {
  Shooter m_shooter;
  double m_targetVel;
  /**
   * Creates a new ShooterVelocityControlPID.
   */
  public ShooterVelocityControlPID(Shooter subsystem, double targetVel) {
    // Use addRequirements() here to declare subsystem dependencies.
    m_shooter = subsystem;
    m_targetVel = targetVel;
    addRequirements(m_shooter);
  }

  // Called when the command is initially scheduled.
  @Override
  public void initialize() {
  }

  // Called every time the scheduler runs while the command is scheduled.
  @Override
  public void execute() {
    if (m_shooter.m_shooterFalcon.getActiveTrajectoryVelocity() < 1000){
      m_shooter.runDrumShooter(0.5);
    } else {
      m_shooter.runDrumShooterVelocityPID(m_targetVel);
    }
  }

  // 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() {
    return false;
  }
}