Fix code changes

[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 adfdb341862f933a03094392848cdfe80ec37328..07eb10145c0dd2aa782eb76545cf55afeabcace0 100644 (file)
--- a/src/org/usfirst/frc/team3501/robot/subsystems/Shooter.java
+++ b/src/org/usfirst/frc/team3501/robot/subsystems/Shooter.java
@@ -7,6 +7,8 @@ import org.usfirst.frc.team3501.robot.utils.PIDController;
 
 import com.ctre.CANTalon;
 
+import edu.wpi.first.wpilibj.DoubleSolenoid;
+import edu.wpi.first.wpilibj.DoubleSolenoid.Value;
 import edu.wpi.first.wpilibj.command.Subsystem;
 
 public class Shooter extends Subsystem {
@@ -19,18 +21,29 @@ 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 DEFAULT_SHOOTING_SPEED = 2800; // rpm
-  private static final double SHOOTING_SPEED_INCREMENT = 25;
+  private static final double DEFAULT_SHOOTING_SPEED = 2700; // rpm
+  private static final double SHOOTING_SPEED_INCREMENT = 50;
+  private static final int ACCEPTABLE_SHOOTING_DEVIATION = 300;
 
   private double targetShootingSpeed = DEFAULT_SHOOTING_SPEED;
   private double currentShooterMotorValue = 0;
 
+  private final DoubleSolenoid piston;
+
   private Shooter() {
     flyWheel1 = new CANTalon(Constants.Shooter.FLY_WHEEL1);
     flyWheel2 = new CANTalon(Constants.Shooter.FLY_WHEEL2);
     indexWheel = new CANTalon(Constants.Shooter.INDEX_WHEEL);
 
     hallEffect = new HallEffectSensor(Constants.Shooter.HALL_EFFECT_PORT, 1);
+
+    piston = new DoubleSolenoid(Constants.Shooter.MODULE_NUMBER,
+        Constants.Shooter.PISTON_FORWARD, Constants.Shooter.PISTON_REVERSE);
+
+    /*
+     * piston = new DoubleSolenoid(Constants.Shooter.MODULE_NUMBER,
+     * Constants.Shooter.PISTON);
+     */
   }
 
   /**
@@ -140,4 +153,33 @@ public class Shooter extends Subsystem {
     this.wheelController.setSetPoint(this.targetShootingSpeed);
     this.currentShooterMotorValue = 0;
   }
+
+  public Value getPistonValue() {
+    return piston.get();
+  }
+
+  public void setHighGear() {
+    changeGear(Constants.Shooter.HIGH_GEAR);
+  }
+
+  public void setLowGear() {
+    changeGear(Constants.Shooter.LOW_GEAR);
+  }
+
+  private void changeGear(DoubleSolenoid.Value gear) {
+    piston.set(gear);
+  }
+
+  public boolean isShooterRPMAtTargetSpeed() {
+    return isShooterRPMWithinRangeOfTargetSpeed(ACCEPTABLE_SHOOTING_DEVIATION);
+  }
+
+  public boolean isShooterRPMWithinRangeOfTargetSpeed(int acceptableRPMError) {
+    double shooterSpeed = getShooterRPM();
+    if (shooterSpeed > DEFAULT_SHOOTING_SPEED - acceptableRPMError
+        && shooterSpeed < DEFAULT_SHOOTING_SPEED + acceptableRPMError) {
+      return true;
+    }
+    return false;
+  }
 }