X-Git-Url: http://challenge-bot.com/repos/?a=blobdiff_plain;f=src%2Forg%2Fusfirst%2Ffrc%2Fteam3501%2Frobot%2Fsubsystems%2FShooter.java;h=bf743b1a3195139d8ec59c73f4d5f713087458e3;hb=f56e6ebf87134eccc3b8bb0e1d2529bd6cb061dd;hp=7a11c2d74440abff3dea25a9c2e60adbaad0e4d4;hpb=ac77a7b890c794f807b764221ff72d9044791fab;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 7a11c2d..bf743b1 100644
--- a/src/org/usfirst/frc/team3501/robot/subsystems/Shooter.java
+++ b/src/org/usfirst/frc/team3501/robot/subsystems/Shooter.java
@@ -3,22 +3,27 @@ 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 = 0.0003, wheelI = 0, wheelD = -0.00004;
+  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 = -1.0;
-  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;
+  private static final double DEFAULT_INDEXING_MOTOR_VALUE = 0.75;
+  private static final double DEFAULT_SHOOTING_SPEED = 2800; // rpm
+  private static final double SHOOTING_SPEED_INCREMENT = 50;
+
+  private double targetShootingSpeed = DEFAULT_SHOOTING_SPEED;
+  private double currentShooterMotorValue = 0;
 
   private Shooter() {
     flyWheel1 = new CANTalon(Constants.Shooter.FLY_WHEEL1);
@@ -28,10 +33,6 @@ public class Shooter extends Subsystem {
     hallEffect = new HallEffectSensor(Constants.Shooter.HALL_EFFECT_PORT, 1);
   }
 
-  public static HallEffectSensor getHallEffectSensor() {
-    return hallEffect;
-  }
-
   /**
    * Returns shooter object
    *
@@ -82,20 +83,61 @@ 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 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;
+  }
 }