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.command.Subsystem;
public class Shooter extends Subsystem {
- public double wheelP = 0, wheelI = 0, wheelD = -0;
+ public double wheelP = 0.00007, wheelI = 0, wheelD = 0.0008;
private static Shooter shooter;
private static HallEffectSensor hallEffect;
private final CANTalon flyWheel1, flyWheel2, indexWheel;
- public static final double DEFAULT_INDEXING_SPEED = -0.75;
- public static final double DEFAULT_SHOOTING_SPEED = 0.75;
- public static double CURRENT_SHOOTING_SPEED = DEFAULT_SHOOTING_SPEED;
+ private PIDController wheelController;
- public static final double SHOOTING_SPEED_INCREMENT = 0.05;
+ private static final double RPM_THRESHOLD = 10;
+ public static final double DEFAULT_INDEXING_MOTOR_VALUE = 0.75;
+ public static final double REVERSE_FLYWHEEL_MOTOR_VALUE = -0.75;
+ private static final double DEFAULT_SHOOTING_SPEED = 2875; // rpm
+ private static final double SHOOTING_SPEED_INCREMENT = 25;
+
+ private double targetShootingSpeed = DEFAULT_SHOOTING_SPEED;
+ private double currentShooterMotorValue = 0;
private Shooter() {
flyWheel1 = new CANTalon(Constants.Shooter.FLY_WHEEL1);
hallEffect = new HallEffectSensor(Constants.Shooter.HALL_EFFECT_PORT, 1);
}
- public static HallEffectSensor getHallEffectSensor() {
- return hallEffect;
- }
-
/**
* Returns shooter object
*
* @param val
* motor value from -1 to 1(fastest forward)
*/
- public void setFlyWheelMotorVal(final double val) {
+ public void setFlyWheelMotorVal(double val) {
+ val = MathLib.restrictToRange(val, -1.0, 1.0);
flyWheel1.set(val);
flyWheel2.set(val);
}
* @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);
}
}
+ 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 void reverseFlyWheel() {
+ this.setFlyWheelMotorVal(shooter.REVERSE_FLYWHEEL_MOTOR_VALUE);
+ }
}