Add piston getters in Shooter

[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..445584a483dd28273cae08d3719e79e2be4e8d92 100644 (file)
--- a/src/org/usfirst/frc/team3501/robot/subsystems/Shooter.java
+++ b/src/org/usfirst/frc/team3501/robot/subsystems/Shooter.java
@@ -20,9 +20,10 @@ public class Shooter extends Subsystem {
   private PIDController wheelController;
 
   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 DEFAULT_INDEXING_MOTOR_VALUE = -0.75;
+  private static final double DEFAULT_SHOOTING_SPEED = 3100; // 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;
@@ -163,4 +164,33 @@ public class Shooter extends Subsystem {
   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;
+  }
+
+  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);
+  }
 }