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 {
private static final double RPM_THRESHOLD = 10;
private static final double DEFAULT_INDEXING_MOTOR_VALUE = -0.75;
- private static final double DEFAULT_SHOOTING_SPEED = 2700; // rpm
- private static final double SHOOTING_SPEED_INCREMENT = 25;
+ 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() {
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);
}
/**
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;
+ }
}