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add necessary commands/buttons
[3501/2017steamworks]
/
src
/
org
/
usfirst
/
frc
/
team3501
/
robot
/
subsystems
/
Shooter.java
diff --git
a/src/org/usfirst/frc/team3501/robot/subsystems/Shooter.java
b/src/org/usfirst/frc/team3501/robot/subsystems/Shooter.java
index 531e485014ad72db5239612355b854e0ac6f9e9e..85ecf468d6a2498a420813de8a41e84105c8c0ce 100644
(file)
--- a/
src/org/usfirst/frc/team3501/robot/subsystems/Shooter.java
+++ b/
src/org/usfirst/frc/team3501/robot/subsystems/Shooter.java
@@
-21,7
+21,8
@@
public class Shooter extends Subsystem {
private static final double RPM_THRESHOLD = 10;
private static final double DEFAULT_INDEXING_MOTOR_VALUE = 0.75;
private static final double RPM_THRESHOLD = 10;
private static final double DEFAULT_INDEXING_MOTOR_VALUE = 0.75;
- private static final double DEFAULT_SHOOTING_SPEED = 2800; // rpm
+ private static final double REVERSE_FLYWHEEL_MOTOR_VALUE = -0.75;
+ private static final double DEFAULT_SHOOTING_SPEED = 2700; // rpm
private static final double SHOOTING_SPEED_INCREMENT = 50;
private double targetShootingSpeed = DEFAULT_SHOOTING_SPEED;
private static final double SHOOTING_SPEED_INCREMENT = 50;
private double targetShootingSpeed = DEFAULT_SHOOTING_SPEED;
@@
-163,4
+164,8
@@
public class Shooter extends Subsystem {
private void changeGear(DoubleSolenoid.Value gear) {
piston.set(gear);
}
private void changeGear(DoubleSolenoid.Value gear) {
piston.set(gear);
}
+
+ public void reverseFlyWheel() {
+ this.setFlyWheelMotorVal(shooter.REVERSE_FLYWHEEL_MOTOR_VALUE);
+ }
}
}