| 1 | package org.usfirst.frc.team3501.robot.subsystems; |
| 2 | |
| 3 | import org.usfirst.frc.team3501.robot.Constants; |
| 4 | import org.usfirst.frc.team3501.robot.MathLib; |
| 5 | import org.usfirst.frc.team3501.robot.utils.HallEffectSensor; |
| 6 | |
| 7 | import com.ctre.CANTalon; |
| 8 | |
| 9 | import edu.wpi.first.wpilibj.command.Subsystem; |
| 10 | |
| 11 | public class Shooter extends Subsystem { |
| 12 | public double wheelP = 0.0001, wheelI = 0, wheelD = 0.0004; |
| 13 | private static Shooter shooter; |
| 14 | private static HallEffectSensor hallEffect; |
| 15 | private final CANTalon flyWheel1, flyWheel2, indexWheel; |
| 16 | |
| 17 | private static final double DEFAULT_INDEXING_SPEED = -0.75; |
| 18 | private static final double DEFAULT_SHOOTING_SPEED = 2800; // rpm |
| 19 | private static final double SHOOTING_SPEED_INCREMENT = 25; |
| 20 | |
| 21 | private double currentShootingSpeed = DEFAULT_SHOOTING_SPEED; |
| 22 | |
| 23 | private Shooter() { |
| 24 | flyWheel1 = new CANTalon(Constants.Shooter.FLY_WHEEL1); |
| 25 | flyWheel2 = new CANTalon(Constants.Shooter.FLY_WHEEL2); |
| 26 | indexWheel = new CANTalon(Constants.Shooter.INDEX_WHEEL); |
| 27 | |
| 28 | hallEffect = new HallEffectSensor(Constants.Shooter.HALL_EFFECT_PORT, 1); |
| 29 | } |
| 30 | |
| 31 | /** |
| 32 | * Returns shooter object |
| 33 | * |
| 34 | * @return Shooter object |
| 35 | */ |
| 36 | public static Shooter getShooter() { |
| 37 | if (shooter == null) { |
| 38 | shooter = new Shooter(); |
| 39 | } |
| 40 | return shooter; |
| 41 | } |
| 42 | |
| 43 | /** |
| 44 | * Sets fly wheel motor value to input. |
| 45 | * |
| 46 | * @param val |
| 47 | * motor value from -1 to 1(fastest forward) |
| 48 | */ |
| 49 | public void setFlyWheelMotorVal(double val) { |
| 50 | val = MathLib.restrictToRange(val, 0.0, 1.0); |
| 51 | flyWheel1.set(val); |
| 52 | flyWheel2.set(val); |
| 53 | } |
| 54 | |
| 55 | /** |
| 56 | * Stops fly wheel motor. |
| 57 | */ |
| 58 | public void stopFlyWheel() { |
| 59 | flyWheel1.set(0); |
| 60 | flyWheel2.set(0); |
| 61 | } |
| 62 | |
| 63 | /** |
| 64 | * Sets index wheel motor value to input. |
| 65 | * |
| 66 | * @param val |
| 67 | * motor value from -1 to 1(fastest forward) |
| 68 | */ |
| 69 | public void setIndexWheelMotorVal(double val) { |
| 70 | val = MathLib.restrictToRange(val, -1.0, 1.0); |
| 71 | indexWheel.set(val); |
| 72 | } |
| 73 | |
| 74 | /** |
| 75 | * Stops index wheel motor. |
| 76 | */ |
| 77 | public void stopIndexWheel() { |
| 78 | indexWheel.set(0); |
| 79 | } |
| 80 | |
| 81 | @Override |
| 82 | protected void initDefaultCommand() { |
| 83 | |
| 84 | } |
| 85 | |
| 86 | public double getShooterRPM() { |
| 87 | return hallEffect.getRPM(); |
| 88 | } |
| 89 | |
| 90 | public void setCurrentShootingSpeed(double Value) { |
| 91 | currentShootingSpeed = Value; |
| 92 | } |
| 93 | |
| 94 | public void decrementCurrentShootingSpeed() { |
| 95 | this.currentShootingSpeed -= this.SHOOTING_SPEED_INCREMENT; |
| 96 | } |
| 97 | |
| 98 | public void incrementCurrentShootingSpeed() { |
| 99 | this.currentShootingSpeed += this.SHOOTING_SPEED_INCREMENT; |
| 100 | } |
| 101 | |
| 102 | public void resetCurrentShootingSpeed() { |
| 103 | this.currentShootingSpeed = this.DEFAULT_SHOOTING_SPEED; |
| 104 | } |
| 105 | |
| 106 | public double getCurrentShootingSpeed() { |
| 107 | return currentShootingSpeed; |
| 108 | } |
| 109 | |
| 110 | public void reverseIndexWheel() { |
| 111 | this.setIndexWheelMotorVal(-DEFAULT_INDEXING_SPEED); |
| 112 | } |
| 113 | |
| 114 | public void runIndexWheel() { |
| 115 | this.setIndexWheelMotorVal(DEFAULT_INDEXING_SPEED); |
| 116 | } |
| 117 | } |