[notmattlythgoe]

Originally Posted by WilliamR

Here is the code that we are using to test the latching of our winch after a limit switch is activated.

void shoot() {
        latchPneumatic.set(DoubleSolenoid.Value.kReverse);
    }
    
    void winch(int direction, double unwindTime) {
        if (direction == 1) {
            while (catapultLimitSwitch.get() == true) {
                winchMotor.set(1);
            }
            //latchPneumatic.set(DoubleSolenoid.Value.kReverse);
            winchMotor.set(0);
        }
        else if (direction == -1) {
            for (int i = 0; i < unwindTime*10000; i++) winchMotor.set(-1);
            winchMotor.set(0);
        }
        else winchMotor.set(0);
    }

What you are doing here is very dangerous when using the Command Based approach. Long acting while loops are a big no no and should be avoided at all costs. What you want to do is use a single command for each action and combine them into a command group to get them to work in sequence. Your command for moving the wench should be similar to this:

public void execute() {
     shooter.winch(1);
}

public boolean isFinished() {
     if (timeNow - startTime > unwindTime) {
          return true;
     }
}

public void end() {
     shooter.winch(0);
}

This will run the shooter motor at the power level provided in the parameter:

shooter.winch(x)

You will use this to tell the command when it is finished:

public boolean isFinished() {
     if (timeNow - startTime > unwindTime) {
          return true;
     }
}

This will stop the motor once the command is finished (the winch runs for the specified time):

public void end() {
     shooter.winch(0);
}