X-Git-Url: http://challenge-bot.com/repos/?a=blobdiff_plain;f=src%2Forg%2Fusfirst%2Ffrc%2Fteam3501%2Frobot%2Fsubsystems%2FShooter.java;h=b9ccb42dff3967cabcfd551a0d71bb7c1ca31ad9;hb=09e509d3b1f6e73a06d62e41c5a959e6eed2e5c6;hp=f39f1ff2754e284dcc4f38124e7465131a913b13;hpb=381dad77be9ae65d463812e2c2ad852363084219;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 f39f1ff..b9ccb42 100644
--- a/src/org/usfirst/frc/team3501/robot/subsystems/Shooter.java
+++ b/src/org/usfirst/frc/team3501/robot/subsystems/Shooter.java
@@ -1,26 +1,34 @@
 package org.usfirst.frc.team3501.robot.subsystems;
 
 import org.usfirst.frc.team3501.robot.Constants;
+import org.usfirst.frc.team3501.robot.utils.HallEffectSensor;
 
 import com.ctre.CANTalon;
 
 import edu.wpi.first.wpilibj.command.Subsystem;
 
 public class Shooter extends Subsystem {
-  public double wheelP = 0.005, wheelI = 0.001, wheelD = -0.003;
+  public double wheelP = 0, wheelI = 0, wheelD = -0;
   private static Shooter shooter;
-  private final CANTalon flyWheel, indexWheel;
+  private static HallEffectSensor hallEffect;
+  private final CANTalon flyWheel1, flyWheel2, indexWheel;
 
-  public static final double DEFAULT_INDEXING_SPEED = 0;
-  public static final double DEFAULT_SHOOTING_SPEED = 0;
-  public static double CURRENT_SHOOTING_SPEED;
+  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;
 
-  public static final double SHOOTING_SPEED_INCREMENT = 0;
+  public static final double SHOOTING_SPEED_INCREMENT = 0.05;
 
   private Shooter() {
-    flyWheel = new CANTalon(Constants.Shooter.FLY_WHEEL);
+    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);
+  }
+
+  public static HallEffectSensor getHallEffectSensor() {
+    return hallEffect;
   }
 
   /**
@@ -42,14 +50,16 @@ public class Shooter extends Subsystem {
    *          motor value from -1 to 1(fastest forward)
    */
   public void setFlyWheelMotorVal(final double val) {
-    flyWheel.set(val);
+    flyWheel1.set(val);
+    flyWheel2.set(val);
   }
 
   /**
    * Stops fly wheel motor.
    */
   public void stopFlyWheel() {
-    flyWheel.set(0);
+    flyWheel1.set(0);
+    flyWheel2.set(0);
   }
 
   /**
@@ -69,12 +79,20 @@ public class Shooter extends Subsystem {
     indexWheel.set(0);
   }
 
+  public double getCurrentShootingSpeed() {
+    return CURRENT_SHOOTING_SPEED;
+  }
+
+  public void setCurrentShootingSpeed(double Value) {
+    CURRENT_SHOOTING_SPEED = Value;
+  }
+
   @Override
   protected void initDefaultCommand() {
 
   }
 
-  public double getShooterSpeed() {
-    return 1.0;
+  public double getShooterRPM() {
+    return hallEffect.getRPM();
   }
 }