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;
hallEffect = new HallEffectSensor(Constants.Shooter.HALL_EFFECT_PORT, 1);
- piston = new DoubleSolenoid(Constants.DriveTrain.MODULE_NUMBER,
+ piston = new DoubleSolenoid(Constants.Shooter.MODULE_NUMBER,
Constants.Shooter.PISTON_FORWARD, Constants.Shooter.PISTON_REVERSE);
}
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;
+ }
}