X-Git-Url: http://challenge-bot.com/repos/?a=blobdiff_plain;f=src%2Forg%2Fusfirst%2Ffrc%2Fteam3501%2Frobot%2Fsubsystems%2FShooter.java;h=5711b2696ca632e6e790920f5a97057a2660f34b;hb=150f450f2b4f9e6094d71007507a7b877e05328a;hp=faca5ddac1c1e7b9caabab21298a932c8192e5d0;hpb=cb8e86cb498c12dcf4e2b7a5916fc6f4926b77cf;p=3501%2F2017steamworks

diff --git a/src/org/usfirst/frc/team3501/robot/subsystems/Shooter.java b/src/org/usfirst/frc/team3501/robot/subsystems/Shooter.java
index faca5dd..5711b26 100644
--- a/src/org/usfirst/frc/team3501/robot/subsystems/Shooter.java
+++ b/src/org/usfirst/frc/team3501/robot/subsystems/Shooter.java
@@ -7,8 +7,6 @@ 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 {
@@ -20,24 +18,20 @@ 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 = 3100; // rpm
-  private static final double SHOOTING_SPEED_INCREMENT = 50;
+  private static final double DEFAULT_INDEXING_MOTOR_VALUE = 0.75;
+  private 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 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);
   }
 
   /**
@@ -59,7 +53,7 @@ public class Shooter extends Subsystem {
    *          motor value from -1 to 1(fastest forward)
    */
   public void setFlyWheelMotorVal(double val) {
-    val = MathLib.restrictToRange(val, 0.0, 1.0);
+    val = MathLib.restrictToRange(val, -1.0, 1.0);
     flyWheel1.set(val);
     flyWheel2.set(val);
   }
@@ -148,19 +142,7 @@ public class Shooter extends Subsystem {
     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 void reverseFlyWheel() {
+    this.setFlyWheelMotorVal(shooter.REVERSE_FLYWHEEL_MOTOR_VALUE);
   }
 }