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package edu.wpi.first.wpilibj.templates.commands.highlevel;

import edu.wpi.first.wpilibj.templates.RobotMap;
import edu.wpi.first.wpilibj.templates.commands.CommandBase;
/**
 *
 * @author team1987
 */
public class H_ShooterControl extends CommandBase {
    
    public H_ShooterControl() {
        // Use requires() here to declare subsystem dependencies
        // eg. requires(chassis);
        requires(shooter);
    }

    // Called just before this Command runs the first time
    protected void initialize() {
    }

    // Called repeatedly when this Command is scheduled to run
    protected void execute() {
        if(RobotMap.isTeleop) {
            shooter.throttleToShooter(oi.getJoystick2()); 
            shooter.runShooter(oi.getJoystick());
        }
        else if (RobotMap.isAutonomous) {
            //shooter.runShooter(0, 0);
            //shooter.setAngle(45);
        }
    }

    // Make this return true when this Command no longer needs to run execute()
    protected boolean isFinished() {
        return false;
    }

    // Called once after isFinished returns true
    protected void end() {
    }

    // Called when another command which requires one or more of the same
    // subsystems is scheduled to run
    protected void interrupted() {
    }
}
