X-Git-Url: http://challenge-bot.com/repos/?a=blobdiff_plain;f=src%2Forg%2Fusfirst%2Ffrc%2Fteam3501%2Frobot%2Fsubsystems%2FShooter.java;h=820bc6a85c25f2429f5cf9c90153d48475914190;hb=d5498c9f699d654fbb0bf00ddcd837eea8bcc78e;hp=a3242d9bdd1acecc2770ea3cd41d73766923dae2;hpb=185e0c8dbd5620979b888809e20b3b951915ab20;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 a3242d9..820bc6a 100644
--- a/src/org/usfirst/frc/team3501/robot/subsystems/Shooter.java
+++ b/src/org/usfirst/frc/team3501/robot/subsystems/Shooter.java
@@ -20,9 +20,10 @@ 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 = 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;
@@ -36,7 +37,7 @@ public class Shooter extends Subsystem {
 
     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);
   }
 
@@ -163,4 +164,17 @@ public class Shooter extends Subsystem {
   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;
+  }
 }