protected void execute() {
		// TODO Auto-generated method stub
		switch(stage){
			case 0://init
				setNextTime(3000);
				stage = 1;
				break;
				
			case 1://allow speedup, wait
				if(timeEnd()){
					setNextTime(100);
					stage = 2;
					load();
				}
				break;
				
			case 2://load
				if(timeEnd()){
					setNextTime(800);
					stage = 3;
					stop();
				}
				break;
				
			case 3://wait
				if(timeEnd()){
					setNextTime(100);
					stage = 4;
					shoot();
				}
				break;
				
			case 4://shoot
				if(timeEnd()){
					setNextTime(800);
					stage = 1;
					stop();
					disksShot++;
				}
				break;
		}
	}