package org.usfirst.frc.team3501.robot.subsystems;
import org.usfirst.frc.team3501.robot.Constants;
+import org.usfirst.frc.team3501.robot.MathLib;
+import org.usfirst.frc.team3501.robot.utils.HallEffectSensor;
+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 {
+ public double wheelP = 0.00007, wheelI = 0, wheelD = 0.0008;
private static Shooter shooter;
- private final CANTalon flyWheel, indexWheel;
+ private static HallEffectSensor hallEffect;
+ private final CANTalon flyWheel1, flyWheel2, indexWheel;
+
+ 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 = 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;
+
+ private final DoubleSolenoid piston;
private Shooter() {
- flyWheel = new CANTalon(Constants.Shooter.FLY_WHEEL);
+ 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);
}
/**
* @param val
* motor value from -1 to 1(fastest forward)
*/
- public void setFlyWheelMotorVal(final double val) {
- flyWheel.set(val);
+ public void setFlyWheelMotorVal(double val) {
+ val = MathLib.restrictToRange(val, 0.0, 1.0);
+ flyWheel1.set(val);
+ flyWheel2.set(val);
}
/**
* Stops fly wheel motor.
*/
public void stopFlyWheel() {
- flyWheel.set(0);
+ flyWheel1.set(0);
+ flyWheel2.set(0);
}
/**
* @param val
* motor value from -1 to 1(fastest forward)
*/
- public void setIndexWheelMotorVal(final double val) {
+ public void setIndexWheelMotorVal(double val) {
+ val = MathLib.restrictToRange(val, -1.0, 1.0);
indexWheel.set(val);
}
protected void initDefaultCommand() {
}
+
+ public double getRPMThreshold() {
+ return RPM_THRESHOLD;
+ }
+
+ public double getShooterRPM() {
+ return hallEffect.getRPM();
+ }
+
+ public void setTargetShootingSpeed(double Value) {
+ targetShootingSpeed = Value;
+ }
+
+ public void decrementTargetShootingSpeed() {
+ this.targetShootingSpeed -= this.SHOOTING_SPEED_INCREMENT;
+ }
+
+ public void incrementTargetShootingSpeed() {
+ this.targetShootingSpeed += this.SHOOTING_SPEED_INCREMENT;
+ }
+
+ public void resetTargetShootingSpeed() {
+ this.targetShootingSpeed = this.DEFAULT_SHOOTING_SPEED;
+ }
+
+ public double getTargetShootingSpeed() {
+ return targetShootingSpeed;
+ }
+
+ public void reverseIndexWheel() {
+ this.setIndexWheelMotorVal(-DEFAULT_INDEXING_MOTOR_VALUE);
+ }
+
+ public void runIndexWheel() {
+ this.setIndexWheelMotorVal(DEFAULT_INDEXING_MOTOR_VALUE);
+ }
+
+ public double calculateShooterSpeed() {
+ this.wheelController.setSetPoint(targetShootingSpeed);
+ double calculatedShooterIncrement = this.wheelController
+ .calcPID(this.getShooterRPM());
+ currentShooterMotorValue += calculatedShooterIncrement;
+ return currentShooterMotorValue;
+ }
+
+ public void initializePIDController() {
+ this.wheelController = new PIDController(wheelP, wheelI, wheelD);
+ this.wheelController.setDoneRange(10);
+ this.wheelController.setMaxOutput(1.0);
+ this.wheelController.setMinDoneCycles(3);
+ 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;
+ }
}