Add Shooting capabilities

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

@@ -0,0 +1,75 @@
+/*----------------------------------------------------------------------------*/
+/* 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.commands.TrackTarget;
+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;
+  /**
+   * Creates a new ShootAlll.
+   */
+  public ShootShooter(Shooter shootSub, Storage storeSub, int numBall) {
+    ballNum = numBall;
+    m_shooter = shootSub;
+    m_storage = storeSub;
+    addRequirements(m_shooter);
+    addRequirements(m_storage);
+  }
+
+  // Called when the command is initially scheduled.
+  @Override
+  public void initialize() {
+    startTime = System.currentTimeMillis();
+    //new InstantCommand(() -> m_storage.storageAiming());
+  }
+
+  // Called every time the scheduler runs while the command is scheduled.
+  @Override
+  public void execute() {
+    TrackTarget track = new TrackTarget(m_shooter); //Used to pull velocity and angle from TrackTarget.java
+
+      //Aiming
+    if (startTime + 3000 > System.currentTimeMillis())
+    {
+      new ShooterVelocityControlPID(m_shooter, track.addFireVel());
+    }
+    
+    else if(3000 + startTime + (1000 * ballNum) > System.currentTimeMillis()){
+      new RunCommand(() -> m_storage.runStorage(0.5));
+      new ShooterVelocityControlPID(m_shooter, track.addFireVel());
+      new RunCommand(() -> m_shooter.runAngleAdjustPID(track.addFireAngle()));
+    }
+  }
+
+  // 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 (3000 + startTime + (1000 * ballNum) > System.currentTimeMillis()){
+      return true;
+    }
+    return false;
+  }
+}